Method for controlling operation of smart home

Abstract

The invention discloses a smart home operation control method, which comprises the following steps: S1, measuring the movement speed of the output end of a driving device and the angular speed or movement speed of a corresponding smart home load along with the position change by taking the position point of the output end of the driving device as an axis; s2, manually giving an expected value of the angular velocity or the movement velocity of the smart home load, calculating the movement velocities corresponding to different positions of the output end of the driving device when the angular velocity or the movement velocity of the smart home load is consistent with the expected value according to the measurement data, and drawing a velocity curve; and S3, the driving device is controlled to operate according to the speed curve. The motion speed of the smart home load is kept balanced by controlling the motion speed of the driving device, so that the influence of acceleration on a human body is reduced, and the somatosensory comfort is improved by balancing the speed.

Description

Technical Field

[0001] This invention relates to a control method for the operation of a smart home. Background Technology

[0002] Currently, the operation of smart home devices (such as the unfolding and folding of sofas, and the raising and lowering of beds) uses fixed-speed actuators (e.g., push rods) to drive transmission mechanisms. The commonly used transmission mechanism is a multi-link mechanism. Because multi-link mechanisms are non-linear transmission systems, the output and input ends (i.e., the push rods) are not linearly related. Therefore, when the push rod is pushed at a fixed speed, the speed at the output end of the transmission mechanism is inconsistent with the speed of the push rod, resulting in variations in the speed of the smart home device during operation. These variations can cause discomfort for people using the smart home. Sensitive locations for perceiving speed changes are commonly found at the headrest or cushion of sofas, and the headrest of functional beds.

[0003] For example, with a bed, when lifted by a constant-speed push rod, the angular velocity will be slow at first and then fast. At the same time, the push rod torque is at its maximum at the start, which will cause the starting speed to be lower than the fixed speed. Therefore, the lifting speed will be slower, and the acceleration will be greater when it speeds up, causing discomfort to the human body.

[0004] For example, consider sofas. Conventional smart sofas use a multi-link mechanism to unfold the sofa, lower the backrest, and raise the footrest. When pushed by a lever at a fixed speed, the same point on the seat cushion will experience a slow-fast-slow-fast-slow speed change, and different metal frames will produce different speeds. During the speed change, a large acceleration is generated, resulting in low human comfort. Summary of the Invention

[0005] The purpose of this invention is to provide a control method for the operation of a smart home, so as to solve the technical problems mentioned in the background section.

[0006] The technical solution to achieve the objective of this invention is: a control method for the operation of a smart home, comprising the following steps:

[0007] Step S1: Using the output position of the drive device as the axis, measure the speed of the drive device output and the angular velocity or speed of the corresponding smart home load as the position changes.

[0008] Step S2: Manually give the expected value of the angular velocity or movement speed of the smart home load. Based on the measurement data, calculate the movement speed corresponding to the output end of the drive device at different positions when the angular velocity or movement speed of the smart home load is consistent with the expectation, and draw the speed curve.

[0009] Step S3: Control the operation of the drive device according to the speed curve.

[0010] Furthermore, the calculation method in step S2 includes:

[0011] Step S21: Construct a table showing the relationship between the smart home load angle θ or angular velocity dθ and the output position x or dx of the drive device, or construct a table showing the relationship between the smart home load position y or velocity dy and the output position x or dx of the drive device.

[0012] Step S22: Calculate the relation table to obtain the relation table for dθ-dx or dy-dx;

[0013] Step S23: Set the angular velocity of the smart home load to ω, set the motion speed of the smart home load to v(y), and calculate the motion speed at the output of the drive device v(x) = ω / (dθ / dx) or v(x) = v(y) / (dy / dx);

[0014] Step S24: Connect all v(x) points to form a curve, thus forming a velocity curve.

[0015] Furthermore, in step S3, when the drive device starts running, a slow start method is adopted to gradually increase the running speed of the drive device until the calculated speed curve is reached.

[0016] Furthermore, in step S3, when the drive device stops running, a slow-stop method is adopted, gradually reducing the running speed of the drive device until it stops completely.

[0017] Furthermore, the acceleration of the drive device at the start or stop of operation is calculated, and an acceleration threshold is set. When the acceleration of the drive device at the start or stop of operation is greater than the acceleration threshold, the speed of motion at the output end of the drive device is reduced.

[0018] Furthermore, an angular velocity threshold is set. When the angular velocity of the smart home load is detected to be greater than the angular velocity threshold, the movement speed at the output end of the drive device is reduced.

[0019] Furthermore, the angular acceleration of the smart home load is calculated, and an angular acceleration threshold is set. When the angular acceleration of the smart home load exceeds the angular acceleration threshold, the movement speed at the output end of the drive device is reduced.

[0020] In engineering practice, we can calculate velocity and angle information from the initial position, velocity, and angular velocity. The human body is mainly sensitive to velocity, acceleration, angular velocity, and angular acceleration. Therefore, we can also directly measure the relationship between instantaneous velocity dy and instantaneous angular velocity dθ and position x, and directly obtain the relationship between instantaneous velocity dy and instantaneous angular velocity dθ and instantaneous velocity dx of the driving device. Through the same calculation, we can obtain the velocity v(x) corresponding to the target velocity v(y) and target angular velocity ω that need to be achieved.

[0021] In particular, depending on the differences in the tooling and equipment used, in the actual measurement room, the position y or instantaneous velocity dy can be flexibly selected to obtain velocity-related information, the angle θ or instantaneous angular velocity dθ can be flexibly selected to obtain angular velocity-related information, and the position x or instantaneous velocity dx can be flexibly selected to obtain drive device velocity-related information. And through this information, the velocity v(x) corresponding to the target velocity v(y) and target angular velocity ω that need to be achieved can be calculated.

[0022] By adopting the above technical solution, the present invention has the following beneficial effects:

[0023] (1) The present invention controls the movement speed of the drive device to keep the movement speed of the smart home load balanced, thereby reducing the impact of acceleration on the human body and improving the physical comfort by balancing the speed.

[0024] (2) The present invention controls the acceleration of the drive device when it starts or stops, and adopts a slow start and slow stop method to reduce the acceleration change of the drive device when it starts or stops, so as to ensure that the acceleration is low and the human body feels comfortable.

[0025] (3) In this invention, the angular velocity threshold of the smart home load is set so that the smart home load is in a low-speed running state when it is in motion.

[0026] (4) In this invention, an angular acceleration threshold is set for the smart home load to prevent sudden changes in the speed of the smart home load during movement from affecting the comfort of the body. Attached Figure Description

[0027] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0028] Figure 1 This is a flowchart of the control method for smart home operation according to the present invention. Detailed Implementation

[0029] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] In the description of the embodiments of the present invention, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0034] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances. The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be used to limit the scope of protection of the present invention.

[0035] (Example 1)

[0036] See Figure 1 The smart home operation control method of this embodiment includes the following steps:

[0037] Step S1: Using the output position of the drive device as the axis, measure the speed of the drive device output and the angular velocity or speed of the corresponding smart home load as the position changes.

[0038] Step S2: Manually give the expected value of the angular velocity or movement speed of the smart home load. Based on the measurement data, calculate the movement speed corresponding to the output end of the drive device at different positions when the angular velocity or movement speed of the smart home load is consistent with the expectation, and draw the speed curve.

[0039] Step S3: Control the operation of the drive device according to the speed curve.

[0040] The calculation method in step S2 includes:

[0041] Step S21: Construct a table showing the relationship between the smart home load angle θ or angular velocity dθ and the output position x or dx of the drive device, or construct a table showing the relationship between the smart home load position y or velocity dy and the output position x or dx of the drive device.

[0042] Step S22: Calculate the relation table to obtain the relation table for dθ-dx or dy-dx;

[0043] Step S23: Set the angular velocity of the smart home load to ω, set the motion speed of the smart home load to v(y), and calculate the motion speed at the output of the drive device v(x) = ω / (dθ / dx) or v(x) = v(y) / (dy / dx);

[0044] Step S24: Connect all v(x) points to form a curve, thus forming a velocity curve.

[0045] In engineering practice, we can calculate velocity and angle information from the initial position, velocity, and angular velocity. The human body is mainly sensitive to velocity, acceleration, angular velocity, and angular acceleration. Therefore, we can also directly measure the relationship between instantaneous velocity dy and instantaneous angular velocity dθ and position x, and directly obtain the relationship between instantaneous velocity dy and instantaneous angular velocity dθ and instantaneous velocity dx of the driving device. Through the same calculation, we can obtain the velocity v(x) corresponding to the target velocity v(y) and target angular velocity ω that need to be achieved.

[0046] In particular, depending on the differences in the tooling and equipment used, in the actual measurement room, the position y or instantaneous velocity dy can be flexibly selected to obtain velocity-related information, the angle θ or instantaneous angular velocity dθ can be flexibly selected to obtain angular velocity-related information, and the position x or instantaneous velocity dx can be flexibly selected to obtain drive device velocity-related information. And through this information, the velocity v(x) corresponding to the target velocity v(y) and target angular velocity ω that need to be achieved can be calculated.

[0047] In this embodiment, smart home devices can be smart sofas, smart beds, etc., smart home loads can be sofa backrests, sofa cushions, bed frames, mattresses, iron frames, etc., and driving devices can be electric push rods, etc.

[0048] For example, to adjust the angular velocity of a sofa backrest, the movement speed of the electric actuator and the corresponding angular velocity of the sofa backrest can be measured as the position changes, using the moving point of the electric actuator as the axis. By dynamically adjusting the speed of the electric actuator, the angular velocity of the sofa backrest can be kept constant. By calculating the electric actuator speed curve required for the sofa backrest to maintain a consistent angular velocity, simply changing the speed of the electric actuator along the curve in real time can ensure that the angular velocity of the sofa backrest remains constant, effectively reducing acceleration and improving comfort.

[0049] To adjust the angular velocity of the mattress lift, the movement speed of the electric push rod and the corresponding angular velocity of the mattress can be measured as the position changes, using the moving point of the electric push rod as the axis. By dynamically adjusting the speed of the electric push rod, the angular velocity of the mattress can be kept constant. By calculating the electric push rod speed curve required for the mattress to maintain a consistent angular velocity, and by changing the speed of the electric push rod along the curve in real time, the angular velocity of the mattress can be kept constant, effectively reducing acceleration and improving comfort.

[0050] To determine the movement speed of the sofa cushion, the movement speed of the electric actuator and the corresponding sofa cushion can be measured, using the position of the actuator as an axis. By dynamically adjusting the actuator's speed, the sofa cushion's movement speed can be kept consistent. By calculating the electric actuator speed curve required for consistent sofa cushion movement, and by adjusting the actuator's speed along this curve in real time, the sofa cushion's movement speed can be kept constant, effectively reducing acceleration and improving comfort.

[0051] In step S3, when the drive device starts running, a soft start method is used to gradually increase the running speed of the drive device until the calculated speed curve is reached. In step S3, when the drive device stops running, a soft stop method is used to gradually decrease the running speed of the drive device until it comes to a complete stop. By using soft start and soft stop methods, the acceleration changes of the drive device at the start or stop are reduced, ensuring low acceleration and a comfortable ride for the human body.

[0052] The acceleration of the drive device at the start or stop is calculated, and an acceleration threshold is set. When the acceleration of the drive device at the start or stop exceeds the acceleration threshold, the speed of the drive device's output end is reduced. According to relevant research, the minimum acceleration perceived by the human body is 0.01 to 0.02g, and the acceleration range that the human body feels comfortable in is generally 0.1 to 0.3g. In this embodiment, the acceleration threshold is set to 0.1g, so that the human body feels comfortable and basically does not feel the impact of speed changes.

[0053] As a preferred embodiment, an angular velocity threshold is set. When the angular velocity of the smart home load is detected to be greater than the threshold, the movement speed at the output of the drive device is reduced. In this embodiment, the angular velocity is limited to within 0.1 rad / s to ensure a low angular velocity and thus provide a comfortable experience for the human body.

[0054] As a limited solution in this embodiment, the angular acceleration of the smart home load is calculated, and an angular acceleration threshold is set. When the angular acceleration of the smart home load exceeds the angular acceleration threshold, the movement speed at the output end of the drive device is reduced. In this embodiment, the angular acceleration is limited to 0.05 rad / s². 2 Within a certain range, the angular acceleration is kept low to prevent sudden changes in the speed of smart home loads during movement from affecting the user's comfort.

[0055] This invention controls the movement speed of the drive device to keep the movement speed of the smart home load balanced, thereby reducing the impact of acceleration on the human body and improving human comfort by balancing the speed.

[0056] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for the operation of a smart home, characterized in that: Includes the following steps: Step S1: Using the output position of the drive device as the axis, measure the speed of the drive device output and the angular velocity or speed of the corresponding smart home load as the position changes. Step S2: Manually give the expected value of the angular velocity or movement speed of the smart home load. Based on the measurement data, calculate the movement speed corresponding to the output end of the drive device at different positions when the angular velocity or movement speed of the smart home load is consistent with the expectation, and draw the speed curve. Step S3: Control the operation of the drive device according to the speed curve.

2. The control method for smart home operation according to claim 1, characterized in that: The calculation method in step S2 includes: Step S21: Construct a table showing the relationship between the smart home load angle θ or angular velocity dθ and the output position x or dx of the drive device, or construct a table showing the relationship between the smart home load position y or velocity dy and the output position x or dx of the drive device. Step S22: Calculate the relation table to obtain the relation table for dθ-dx or dy-dx; Step S23: Set the angular velocity of the smart home load to ω, set the motion speed of the smart home load to v(y), and calculate the motion speed at the output of the drive device v(x) = ω / (dθ / dx) or v(x) = v(y) / (dy / dx); Step S24: Connect all v(x) points to form a curve, thus forming a velocity curve.

3. The control method for smart home operation according to claim 1, characterized in that: In step S3, when the drive device starts running, a slow start method is adopted to gradually increase the running speed of the drive device until the calculated speed curve is reached.

4. The control method for smart home operation according to claim 1, characterized in that: In step S3, when the drive device stops running, a slow-stop method is adopted, gradually reducing the running speed of the drive device until it stops completely.

5. A control method for smart home operation according to claim 3 or 4, characterized in that: Calculate the acceleration when the drive device starts or stops running, set an acceleration threshold, and when the acceleration when the drive device starts or stops running is greater than the acceleration threshold, reduce the speed of the drive device output.

6. The control method for smart home operation according to claim 1, characterized in that: Set an angular velocity threshold. When the angular velocity of the smart home load is detected to be greater than the angular velocity threshold, reduce the movement speed at the output end of the drive device.

7. The control method for smart home operation according to claim 6, characterized in that: Calculate the angular acceleration of the smart home load, set an angular acceleration threshold, and reduce the movement speed at the output end of the drive device when the angular acceleration of the smart home load exceeds the angular acceleration threshold.

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