Opening and closing control method and device of intelligent closestool, intelligent closestool and medium

Abstract

The invention discloses an opening and closing control method and device of an intelligent closestool, the intelligent closestool and a medium. The method comprises the following steps: acquiring an opening and closing adjustment coefficient, a deceleration angle and a target duration and / or a target angle; wherein the opening and closing adjustment coefficient corresponds to an opening and closing component in the intelligent closestool; linearly increasing the motor driving power to a target time length and / or a target angle along with time according to the opening and closing adjustment coefficient; and under the condition that the opening and closing component reaches the preset position, the motor driving power is adjusted according to the deceleration angle and the target position so as to control the opening and closing component to reach the target position. According to the intelligent closestool, the technical problem that the service life of a motor and a transmission mechanism is affected due to the fact that the opening and closing process of the intelligent closestool in the prior art is unstable, the shaking frequency is large, and the shaking amplitude is large is solved, the self-adaptive capacity, the opening and closing speed and the stability of an opening and closing component load are improved, and then the service life of the motor and the transmission mechanism is effectively prolonged.

Description

Technical Field

[0001] This invention relates to the field of bathroom control technology, and in particular to a method, device, smart toilet, and medium for controlling the opening and closing of a smart toilet. Background Technology

[0002] Smart toilets have entered countless homes, facilitating daily use and providing a better user experience. The automatic lid and seat opening function, in particular, makes use much easier, especially for the elderly or those with special needs, eliminating the need to bend over manually. However, existing automatic lid and seat opening functions, due to their proportional control method, result in an uneven and jerky process when the toilet seat / seat flips up and down. Especially after the toilet seat reaches its position, there are many vibrations with large amplitude, which not only looks unpleasant but also affects the lifespan of the motor and transmission mechanism. Summary of the Invention

[0003] This invention provides a method, device, smart toilet, and medium for controlling the opening and closing of a smart toilet, in order to solve the technical problems in the prior art where the opening and closing process of a smart toilet is unstable, and the number and amplitude of vibrations are large, thus affecting the service life of the motor and transmission mechanism.

[0004] According to one aspect of the present invention, a method for controlling the opening and closing of a smart toilet is provided, comprising: The opening and closing adjustment coefficient, deceleration angle, target duration, and / or target angle are obtained; wherein the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet. The motor drive power is linearly increased with time according to the opening and closing adjustment coefficient to the target duration and / or target angle; When the opening and closing component reaches the preset position, the motor drive power is adjusted according to the deceleration angle and the target position to control the opening and closing component to reach the target position.

[0005] According to another aspect of the present invention, an opening and closing control device for a smart toilet is provided, comprising: An information acquisition module is used to acquire the opening and closing adjustment coefficient, the deceleration angle, and the target duration and / or target angle; wherein the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet; A power determination module is used to linearly increase the motor drive power with time according to the opening and closing adjustment coefficient to the target duration and / or target angle; The opening and closing control module is used to adjust the motor drive power according to the deceleration angle and the target position when the opening and closing component reaches the preset position, so as to control the opening and closing component to reach the target position.

[0006] According to another aspect of the present invention, a smart toilet is provided, the smart toilet comprising: at least one main controller, a memory communicatively connected to the at least one main controller, and a motor communicatively connected to the at least one main controller; The memory stores a computer program that can be executed by the at least one main controller, which is then executed by the at least one main controller to enable the at least one main controller to perform the opening and closing control method of the smart toilet according to any embodiment of the present invention.

[0007] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a main controller to execute and implement the opening and closing control method of the smart toilet according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a main controller, implements the opening and closing control method of the smart toilet according to any embodiment of the present invention.

[0009] The technical solution of this invention obtains the opening and closing adjustment coefficient, deceleration angle, and target duration and / or target angle; linearly increases the motor drive power according to the opening and closing adjustment coefficient over time to the target duration and / or target angle; and adjusts the motor drive power according to the deceleration angle and target position when the opening and closing component reaches the preset position, so as to control the opening and closing component to reach the target position. This solves the technical problem in the prior art that the opening and closing process of smart toilets is unstable, and the number and amplitude of vibrations are large, which affects the service life of the motor and transmission mechanism. It improves the load adaptability, opening and closing speed and stability of the opening and closing component, thereby effectively extending the service life of the motor and transmission mechanism.

[0010] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of an opening and closing control method for a smart toilet provided in an embodiment of the present invention; Figure 2 This is a flowchart of another method for controlling the opening and closing of a smart toilet provided in an embodiment of the present invention; Figure 3 This is a flowchart of another intelligent toilet opening and closing control method provided in an embodiment of the present invention; Figure 4 This is a control logic diagram of the opening and closing component in a smart toilet provided in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the implementation of an upward flipping control for an opening / closing component according to an embodiment of the present invention. Figure 6 This is a flowchart illustrating the implementation of a downward flip control for an opening / closing component according to an embodiment of the present invention. Figure 7 This is a flowchart illustrating the implementation of a double-insurance anti-collision system for an opening and closing component, as provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of the opening and closing control device for an intelligent toilet provided in an embodiment of the present invention; Figure 9 This is a structural block diagram of a smart toilet provided in an embodiment of the present invention. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0015] In one embodiment, Figure 1This is a flowchart of an opening and closing control method for a smart toilet provided in an embodiment of the present invention. This embodiment is applicable to situations where the opening and closing components of a smart toilet need to be smoothly controlled. This method can be executed by an opening and closing control device for the smart toilet, which can be implemented in hardware and / or software and can be configured within the smart toilet. Figure 1 As shown, the method includes: S110, Obtain the opening and closing adjustment coefficient, deceleration angle, and target duration and / or target angle; wherein, the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet.

[0016] In one example, the main controller can receive control commands for the opening and closing components, including opening / closing adjustment coefficients, deceleration angles, and target durations and / or target angles. These control commands, issued by the main controller in the smart toilet, define the opening and closing operations of the components within the smart toilet. They control the motor and transmission mechanism in the smart toilet to execute specific opening and closing logic. From an operational mode perspective, the control commands can include one of the following: synchronous opening and closing commands, sequential opening and closing commands, and independent opening and closing commands. A synchronous opening and closing command means that after the control command is triggered, the motor in the smart toilet can drive the toilet seat and toilet seat to flip simultaneously. A sequential opening and closing command means that after the control command is triggered, the smart toilet can execute commands to open the toilet seat first, then the toilet seat, or close the toilet seat first, then the toilet seat. An independent opening and closing command explicitly specifies a single actuator for opening and closing, such as commands to open the toilet seat, open the toilet seat, close the toilet seat, or close the toilet seat. From the perspective of command triggering methods, the control commands for the opening and closing components can include at least one of the following: manual trigger commands, sensor trigger commands, and linkage trigger commands. Manual trigger commands refer to commands issued by the user through the buttons on the smart toilet body or the remote control; these are active commands. Sensor trigger commands refer to commands automatically generated by the main controller after the infrared sensor detects the user's approach or departure; these are passive commands. Linkage trigger commands refer to commands that are linked with other functions, such as automatically closing the opening and closing components after flushing, triggered by a signal indicating the completion of the function.

[0017] In one example, the opening and closing component refers to a part of the smart toilet that can perform opening and closing operations. For example, the opening and closing component may include at least one of the following: a toilet seat and a toilet lid; the opening and closing operation may include at least one of the following: flipping up and flipping down. In actual operation, when controlling the opening and closing operation of the opening and closing component in the smart toilet, the opening and closing operation may be controlled only for the toilet lid, or for both the toilet lid and the toilet seat, or only for the toilet seat.

[0018] In one example, the opening / closing adjustment coefficient refers to the adjustment coefficient pre-configured for the opening / closing component at different stages. In one embodiment, the opening / closing adjustment coefficient includes one of the following: a first upward adjustment coefficient, a second upward adjustment coefficient, a first downward adjustment coefficient, and a second downward adjustment coefficient. Generally, the first upward adjustment coefficient, the second upward adjustment coefficient, the first downward adjustment coefficient, and the second downward adjustment coefficient are all pre-configured fixed values. Specifically, the first upward adjustment coefficient and the second upward adjustment coefficient are adjustment coefficients configured for the opening / closing component during the upward phase; for example, the first upward adjustment coefficient is 50, and the second upward adjustment coefficient is 250. Similarly, the first downward adjustment coefficient and the second downward adjustment coefficient are adjustment coefficients configured for the opening / closing component during the downward phase; for example, the first downward adjustment coefficient is 40, and the second downward adjustment coefficient is 50.

[0019] In one example, the deceleration angle refers to a pre-configured constant value for the opening / closing component during the deceleration or braking phase. For example, the deceleration angle could be 80 degrees. The power adjustment method refers to different power adjustment strategies configured for the opening / closing component during different opening / closing phases. For example, the power adjustment method could be a power adjustment formula or a power adjustment function. In one example, the opening / closing phase could include at least one of the following: an upward-flipping phase of the opening / closing component, an upward-flipping constant-speed phase of the opening / closing component, an upward-flipping deceleration phase of the opening / closing component, an upward-flipping braking phase of the opening / closing component, a downward-flipping start phase of the opening / closing component, a downward-flipping deceleration phase of the opening / closing component, and a downward-flipping braking phase of the opening / closing component.

[0020] In one example, the target angle refers to the pre-configured angle that the opening and closing component is expected to reach, that is, the angle between the upper surface of the opening and closing component and the upper surface of the toilet seat. For example, the target angle can be 40 degrees or 80 degrees. The target duration refers to the pre-configured maximum duration that the opening and closing component can maintain, for example, the target duration can be 2 seconds (s).

[0021] In one example, the main controller can receive control commands for the opening and closing components and parse the opening and closing adjustment coefficient, deceleration angle, and target duration and / or target angle from these commands. In another example, the main controller can also directly retrieve pre-stored opening and closing adjustment coefficients, deceleration angles, and target duration and / or target angle from memory upon receiving the control commands for the opening and closing components.

[0022] S120. The motor drive power is linearly increased with time according to the opening and closing adjustment coefficient until the target duration and / or target angle are reached.

[0023] In one example, motor drive power refers to the effective power output of the drive motor used to overcome the opening and closing components and transmission resistance to complete the flipping action. It can be understood that the magnitude of the motor drive power directly determines the speed, smoothness, and load capacity of the opening and closing action.

[0024] In one example, the motor drive power can linearly increase to different values ​​at different stages, such as from 0 to 100% or from 0 to 60%. In another example, the main controller can linearly increase the motor drive power over time using an opening / closing adjustment coefficient, and automatically control the motor rotation in the smart toilet according to the motor drive power, so that the actual opening / closing angle of the opening / closing component in the smart toilet reaches the target angle, or the opening / closing duration of the component reaches the target duration.

[0025] S130. When the opening and closing components reach the preset position, adjust the motor drive power according to the deceleration angle and the target position to control the opening and closing components to reach the target position.

[0026] In one example, the control process of the opening and closing component can be understood as controlling the opening and closing component to perform different opening and closing operations. Here, the opening and closing operation refers to the opening or closing operation of the opening and closing component. For example, the opening and closing component includes a toilet seat and / or a toilet seat; correspondingly, the opening and closing operation includes at least one of the following: the toilet seat flipping up, the toilet seat flipping down, the toilet seat flipping up, and the toilet seat flipping down.

[0027] In one example, the preset position refers to the desired position of the opening / closing component before it decelerates; the target position refers to the final position reached by the opening / closing component. In actual operation, during the opening / closing process (i.e., when the component flips upwards), the angle corresponding to the preset position is smaller than the angle corresponding to the target position; for example, the preset position might have an angle of 80 degrees, while the target position might have an angle of 95 degrees. During the closing process (i.e., when the component flips downwards), the angle corresponding to the preset position is larger than the angle corresponding to the target position; for example, the preset position might have an angle of 40 degrees, while the target position might have an angle of 0 degrees.

[0028] In one example, after the main controller controls the opening and closing component to reach the preset position according to the motor drive power, the main controller begins to perform a deceleration operation on the opening and closing component. Specifically, the motor drive power can be dynamically adjusted according to the deceleration angle and the target position to control the opening and closing component to reach the target position in a decelerated manner.

[0029] The technical solution of this embodiment obtains the opening and closing adjustment coefficient, deceleration angle, target duration and / or target angle; linearly increases the motor drive power according to the opening and closing adjustment coefficient over time to the target duration and / or target angle; and adjusts the motor drive power according to the deceleration angle and target position when the opening and closing component reaches the preset position, so as to control the opening and closing component to reach the target position. This solves the technical problem in the prior art that the opening and closing process of smart toilets is not stable, and the number and amplitude of vibrations are large, which affects the service life of the motor and transmission mechanism. It improves the load adaptability, opening and closing speed and stability of the opening and closing component, thereby effectively extending the service life of the motor and transmission mechanism.

[0030] In one embodiment, Figure 2 This is a flowchart of another intelligent toilet opening and closing control method provided by an embodiment of the present invention. This embodiment, based on the above embodiment, elaborates on the process of determining the motor drive power during the upward tilting stage and the control process of the opening and closing components. In this embodiment, the target duration is a first preset duration, and the target angle is a first preset angle. Figure 2 As shown, the method includes: S210, Obtain the opening and closing adjustment coefficient, the deceleration angle, and the first preset duration and / or the first preset angle; wherein, the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet.

[0031] S220. Based on the product of the first upward adjustment coefficient and the integral time variable, the motor drive power of the opening and closing component during the upward start-up phase is linearly increased.

[0032] In one example, the integral time variable refers to the integral variable being time t. When the opening and closing mechanism in the smart toilet is in the upward start-up phase, the product of the first upward adjustment coefficient (which is a constant) and the integral variable t can be used as the motor drive power during the upward start-up phase.

[0033] It should be noted that motor drive power can be represented directly by power value or by duty cycle. If represented by power value, the determined motor drive power is directly taken as the motor's operating power; if represented by duty cycle, the product of the duty cycle and the maximum power supported by the motor can be taken as the motor's power.

[0034] If the motor drive power is characterized by the duty cycle, during the upward start-up phase, the motor drive power can increase linearly from 0 to 100%, that is, the motor drive power is controlled to increase gradually to reduce the large starting current of the motor, thereby extending the service life of the motor. In addition, it avoids the shaking and clicking noise of the opening and closing parts during startup, and achieves soft start by reducing the starting current, so that the torque rises gradually and the opening and closing operation is more stable.

[0035] In one example, when a smart toilet leaves the factory, the efficiency coefficient of its motor and transmission mechanism can be 1. In this case, motor mechanical losses can be disregarded, and the product of the constant first upward adjustment coefficient and the integral variable t can be directly used as the motor drive power during the upward start-up phase. However, in actual operation, as the motor and transmission mechanism are used continuously, their efficiency coefficient will be less than 1. At this point, motor mechanical losses need to be considered, and the product of the constant first upward adjustment coefficient, the integral variable t, and the efficiency coefficient can be used as the motor drive power during the upward start-up phase.

[0036] S230. Automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the opening and closing parts to flip up to the first preset angle, or the flipping duration of the opening and closing parts reaches the first preset duration.

[0037] In one example, during the upward start-up phase, the motor drive power can be linearly increased from 0 to 100%, which can reduce the large starting current of the motor and automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the actual upward angle of the opening and closing parts in the smart toilet to reach the first preset angle, or the upward duration of the opening and closing parts to reach the first preset duration, thereby automatically adjusting the output motor drive power according to the weight of the opening and closing parts.

[0038] S240: Based on the product of the second upward adjustment coefficient, the angle difference between the target position and the current position, and the ratio of the deceleration angle, output the motor drive power of the opening and closing component during the upward deceleration phase.

[0039] In one example, the target position refers to the angle corresponding to the opening / closing component when it reaches the target position; for example, the angle corresponding to the target position could be 95 degrees. The angle difference between the target position and the current position refers to the difference between the upward tilting angle of the opening / closing component at the target position and the current moment. In one example, the main controller can determine the product of a second upward tilting adjustment coefficient and the angle difference between the target position and the current position; then, the ratio of this product value to the deceleration angle is used as the motor drive power during the upward tilting deceleration phase. During the upward tilting deceleration phase, the main controller can dynamically adjust the upward tilting speed of the opening / closing component according to the angle from the target position, achieving a smooth stop for the opening / closing component.

[0040] S250: Automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the opening and closing parts to flip up to the target position or the second preset angle, or the flipping duration of the opening and closing parts reaches the second preset duration.

[0041] In one example, the second preset angle refers to the pre-configured angle expected to be reached by the opening and closing component during the upward deceleration phase, i.e., the angle between the upper surface of the opening and closing component and the upper surface of the toilet seat. For example, the second preset angle can be 95 degrees. The second preset duration refers to the pre-configured maximum duration for which the opening and closing component can continue during the upward deceleration phase, for example, the second preset duration can be 200 milliseconds (ms).

[0042] In one example, during the upward deceleration phase, when the opening and closing component reaches the second preset angle, the motor drive power can be maintained at 10%, and the motor in the smart toilet is automatically controlled to rotate according to the motor drive power. After preventing the opening and closing component from falling back due to gravity and shaking, and extending the second preset time, the next phase, namely the upward braking phase, is entered.

[0043] In one embodiment, during the upward tilting process, the opening and closing control method of the smart toilet further includes: linearly outputting the motor drive power of the opening and closing component during the uniform upward tilting phase based on the first upward tilting adjustment coefficient and the product of the first fixed value and the integral time variable; automatically controlling the rotation of the motor in the smart toilet according to the motor drive power to control the opening and closing component to tilt upward to a third preset angle, or the upward tilting duration of the opening and closing component reaches a third preset duration.

[0044] In one example, the first setpoint can be 30. When the opening and closing mechanism in the smart toilet is in the upward constant speed phase, the main controller can determine the product of the first setpoint and the integral variable t, and then use the sum of this product and the first upward adjustment coefficient as the motor drive power during the upward constant speed phase. If the motor drive power is characterized by duty cycle, the motor drive power can be maintained between 60% and 100% during the upward constant speed phase.

[0045] In one example, when a smart toilet leaves the factory, the efficiency coefficient of its motor and transmission mechanism can be 1. In this case, there's no need to consider motor mechanical losses; the product of the first setpoint and the integral variable t can be directly determined. Then, the sum of this product and the first upward-flipping adjustment coefficient is used as the motor's driving power during the constant-speed upward-flipping phase. However, in actual operation, as the motor and transmission mechanism are used continuously, their efficiency coefficient will be less than 1. At this point, motor mechanical losses need to be considered. Therefore, the product of the first setpoint, the integral variable t, and the efficiency coefficient must be determined, and the sum of this product and the first upward-flipping adjustment coefficient is used as the motor's driving power during the constant-speed upward-flipping phase.

[0046] In one example, the third preset angle refers to the angle that the opening and closing component is expected to reach during the uniform upward movement phase, i.e., the angle between the upper surface of the opening and closing component and the upper surface of the toilet seat. For example, the third preset angle can be 80 degrees. The third preset duration refers to the maximum duration that the opening and closing component can last during the uniform upward movement phase, for example, the third preset duration can be 2 seconds (s).

[0047] In one example, during the uniform upward movement phase, the motor drive power is maintained between 60% and 100%, and the motor rotation in the smart toilet is automatically controlled according to the motor drive power. When the actual upward angle of the opening and closing component in the smart toilet reaches the third preset angle, or when the upward movement duration of the opening and closing component reaches the third preset duration, the opening and closing component can be controlled to enter the upward deceleration phase, thereby automatically adjusting the motor drive power according to the weight of the opening and closing component.

[0048] In one embodiment, Figure 3 This is a flowchart of another intelligent toilet opening and closing control method provided by an embodiment of the present invention. This embodiment, based on the above embodiments, elaborates on the process of determining the motor drive power during the downward tilting phase and the control process of the opening and closing components. In this embodiment, the target duration is a fourth preset duration, and the target angle is a fourth preset angle. Figure 3 As shown, the method includes: S310, Obtain the opening and closing adjustment coefficient, the deceleration angle, and the fourth preset duration and / or the fourth preset angle; wherein, the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet.

[0049] S320: Based on the product of the first downward adjustment coefficient and the integral variable time, the motor drive power of the opening and closing component during the downward start-up phase is linearly increased.

[0050] In one example, the integral time variable refers to the integral variable being time t. When the opening and closing mechanism in the smart toilet is in the downward start-up phase, the product of the first downward adjustment coefficient (which is a constant) and the integral variable t can be used as the motor drive power during the downward start-up phase.

[0051] If the motor drive power is characterized by the duty cycle, during the downward start-up phase, the motor drive power can increase linearly from 0 to 60%, that is, the motor drive power is controlled to increase gradually to reduce the large starting current of the motor, thereby extending the service life of the motor. In addition, it avoids the shaking and clicking noise of the opening and closing parts during startup, and achieves soft start by reducing the starting current, so that the torque rises smoothly and the opening and closing operation is more stable.

[0052] In one example, when a smart toilet leaves the factory, the efficiency coefficient of its motor and transmission mechanism can be 1. In this case, motor mechanical losses can be disregarded, and the product of the constant first downward adjustment coefficient and the integral variable t can be directly used as the motor drive power during the downward start-up phase. However, in actual operation, as the motor and transmission mechanism are used continuously, their efficiency coefficient will be less than 1. At this point, motor mechanical losses need to be considered, and the product of the constant first downward adjustment coefficient, the integral variable t, and the efficiency coefficient can be used as the motor drive power during the downward start-up phase.

[0053] S330: Automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the opening and closing parts to tilt down to the fourth preset angle, or the tilting duration of the opening and closing parts reaches the fourth preset duration.

[0054] In one example, the fourth preset angle refers to the pre-configured angle expected to be reached by the opening and closing component during the downward activation phase, i.e., the angle between the upper surface of the opening and closing component and the upper surface of the toilet seat. For example, the fourth preset angle can be 80 degrees. The fourth preset duration refers to the pre-configured maximum duration for which the opening and closing component can continue during the downward activation phase, for example, the fourth preset duration can be 2 seconds (s).

[0055] In one example, during the downward start-up phase, the motor drive power can be linearly increased from 0 to 60%, and the motor in the smart toilet is automatically controlled to rotate according to the motor drive power, so that the actual downward angle of the opening and closing component in the smart toilet reaches the fourth preset angle, or the downward duration of the opening and closing component reaches the fourth preset duration.

[0056] S340. Based on the product of the second downward adjustment coefficient and the angle difference between the target position and the current position, and the ratio of the deceleration angle, determine the motor drive power of the opening and closing component during the downward deceleration phase.

[0057] In one example, the target position refers to the angle at which the opening / closing component reaches the target position; for example, the angle at the target position could be 0 degrees. The angle difference between the target position and the current position refers to the difference between the downward tilt angle of the opening / closing component at the target position and the current moment. In one example, the main controller can determine the product of a second tilt adjustment coefficient and the angle difference between the target position and the current position; then, the ratio of this product value to the deceleration angle is used as the motor drive power during the tilt deceleration phase. During the tilt deceleration phase, the main controller can dynamically adjust the tilt speed of the opening / closing component according to the angle from the target position, achieving a smooth stop for the opening / closing component.

[0058] S350: Automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the opening and closing parts in the smart toilet to tilt down to the target position or the fifth preset angle.

[0059] In one example, the fifth preset angle refers to the pre-configured angle that the opening and closing component is expected to reach during the deceleration phase of the folding motion; that is, the angle between the upper surface of the opening and closing component and the upper surface of the toilet seat. For example, the fifth preset angle can be 40 degrees.

[0060] In one example, during the upward deceleration phase, when the opening and closing component reaches the fifth preset angle, the motor drive power remains at 10%, and the motor in the smart toilet is automatically controlled to rotate according to the motor drive power. The downward speed of the opening and closing component is dynamically adjusted according to the distance from the target position to achieve a smooth stop. When the fifth preset angle is reached, the next phase, namely the upward braking phase, is entered.

[0061] In one embodiment, if the opening and closing component is in the downward braking stage, the opening and closing control method of the smart toilet further includes: generating a motor reversal command; automatically controlling the motor in the smart toilet to rotate in reverse according to the motor drive power and the motor reversal command, so as to control the opening and closing component in the smart toilet to perform a reverse opening and closing operation.

[0062] In one embodiment, the motor reversal command refers to the command to control the motor to perform a reverse operation. When the opening and closing component enters the downward deceleration stage from the downward braking stage, the main controller can determine the product value between the second downward adjustment coefficient and the angle difference between the target position and the current position; then, the ratio between this product value and the deceleration angle is used as the motor drive power during the downward braking stage, and the motor is controlled to rotate in reverse according to the motor drive power based on the motor reversal command, so as to control the opening and closing component to perform a reverse opening and closing operation.

[0063] In one embodiment, during the opening and closing process of the smart toilet, the smart toilet opening and closing control method further includes: acquiring the actual total opening and closing angle of the opening and closing components in the smart toilet within a preset time period in real time; if the actual total opening and closing angle does not reach a first opening and closing angle threshold, generating a motor reversal command; and automatically controlling the motor in the smart toilet to rotate in reverse according to the motor drive power and the motor reversal command, so as to control the opening and closing components in the smart toilet to perform reverse opening and closing operations.

[0064] In one example, the preset duration refers to a pre-configured monitoring period; the actual total opening and closing angle refers to the total opening and closing angle of the opening and closing component within the preset duration; and the first opening and closing angle threshold is used to determine whether there is a manual obstruction threshold during the upward / downward flipping process of the opening and closing component.

[0065] In one example, during the upward / downward movement of the opening and closing component, the main controller acquires the total actual opening and closing angle of the component within a preset time period in real time, and determines whether the total actual opening and closing angle reaches the first opening and closing angle threshold. If the total actual opening and closing angle does not reach the first opening and closing angle threshold, it is determined that the opening and closing component is blocked during the upward / downward movement. At this time, the main controller generates a motor reversal command and automatically controls the motor to rotate in reverse according to the motor drive power, so as to control the opening and closing component in the smart toilet to perform a reverse opening and closing operation.

[0066] In one embodiment, the opening and closing components include a toilet seat and a toilet seat; the opening and closing control method for the smart toilet further includes: generating a toilet seat flipping command when the already flipped angle of the toilet seat in the smart toilet reaches a flipping angle threshold; and controlling the toilet seat in the smart toilet to perform the flipping operation according to the toilet seat flipping command during the process of the toilet seat flipping.

[0067] In one example, the already flipped angle of the toilet seat refers to the total angle the toilet seat has already flipped up during the flipping phase; the flipping angle threshold is used to indicate whether to trigger the instruction for the toilet seat to flip up. For example, the flipping angle threshold can be 50 degrees. This can be understood as follows: when the already flipped angle of the toilet seat in the smart toilet reaches the flipping angle threshold, an instruction for the toilet seat to flip up is generated; during the flipping process of the toilet seat, the toilet seat in the smart toilet is controlled to flip up according to the toilet seat flipping instruction, thus achieving the effect of simultaneous flipping of the toilet seat and toilet seat. This effectively increases the flipping speed of the toilet seat and toilet seat, thereby greatly saving user waiting time and improving the user experience.

[0068] In one embodiment, the opening and closing components include a toilet seat and a toilet rim; the opening and closing control method for the smart toilet further includes: generating a toilet seat folding command when the folded-down angle of the toilet rim in the smart toilet reaches a folding angle threshold; and controlling the toilet seat in the smart toilet to perform the folding operation according to the toilet seat folding command during the folding-down process of the toilet rim.

[0069] In one example, the already lowered angle of the toilet seat refers to the total angle the toilet seat has already lowered during the lowering phase; the lowering angle threshold is used to indicate whether to trigger the instruction for the toilet seat to lower. For example, the lowering angle threshold can be 50 degrees. This can be understood as follows: when the already lowered angle of the toilet seat in the smart toilet reaches the lowering angle threshold, an instruction to lower the toilet seat is generated; during the lowering process of the toilet seat, the toilet seat in the smart toilet is controlled to lower according to the toilet seat lowering instruction, thus achieving the effect of simultaneous lowering of the toilet seat and toilet lid. This effectively increases the lowering speed of the toilet seat and toilet lid, thereby greatly saving user waiting time and improving the user experience.

[0070] Of course, to better enhance the user experience, the above technical solutions can identify the user of the smart toilet to accurately predict the control logic of the opening and closing components. For example, if the user is a man, the control logic of simultaneous opening and closing of the toilet seat and toilet seat is preferred; if the user is a woman, the control logic of independent opening and closing of the toilet seat and toilet seat is preferred.

[0071] It should be noted that in actual operation, because the toilet seat and toilet seat have different weights, the opening and closing adjustment coefficients, deceleration angles, and angle differences between the target position and the current position can be different for each type of toilet seat and toilet seat in order to better automatically adjust the motor drive power according to their weight. For example, the first upward adjustment coefficient for the toilet seat is different from that for the toilet seat, the second upward adjustment coefficient for the toilet seat is different from that for the toilet seat, the first downward adjustment coefficient for the toilet seat is different from that for the toilet seat, and the second downward adjustment coefficient for the toilet seat is different from that for the toilet seat.

[0072] Figure 4 This is a control logic diagram of the opening and closing component in a smart toilet provided by an embodiment of the present invention. Figure 4 As shown, a software control system, a protection system, upward control logic, and downward control logic are configured in the smart toilet. This software control system can be integrated into the main controller. In this embodiment, before controlling the opening and closing of the opening and closing components, the relative positions of the toilet seat and toilet seat are detected to initialize them. Then, the upward control logic is used to open the toilet seat and toilet seat, or the downward control logic is used to open them. During the upward / downward process, the protection system protects the toilet seat and toilet seat to prevent the upward / downward operation from being performed even when the toilet seat and / or toilet seat are obstructed. This significantly extends the lifespan of the toilet seat and / or toilet seat.

[0073] In one embodiment, a torque adaptive control algorithm is used to divide the entire lid-opening process into four stages: starting, constant speed, deceleration, and braking. When the toilet receives the lid-opening / turning command, the specific operation is as follows: Motor drive power (torque) can be denoted as Pout. For example, the maximum drive power that a motor can support can be 20W (watts). The first upward adjustment coefficient can be denoted as Kp_UP (50); the second upward adjustment coefficient can be denoted as Kd_UP (250); The first downward adjustment coefficient can be denoted as Kp_DW (40); the second downward adjustment coefficient can be denoted as Kd_DW (50); The positional difference between the target position (95 degrees) and the current position, also known as the angular difference between the target position and the current position, is denoted as gngle_err; The deceleration angle can be denoted as decel_start_angle (80 degrees).

[0074] Figure 5 This is a flowchart illustrating the implementation of an upward-flipping control for an opening / closing component according to an embodiment of the present invention. Figure 5 As shown, the upward control algorithm for the opening and closing component in this embodiment is as follows: Step 1: Read the dynamic angle / status of the toilet seat / toilet rim.

[0075] Step 2: Motor drive power output Pout = ∫Kp_UP·dt.

[0076] Step 3: Has the first preset duration / first preset angle been reached? If yes, proceed to step 4; otherwise, return to step 2.

[0077] Step 4: Motor drive power output Pout = Kp_UP + (∫30·dt).

[0078] Step 5: Has the third preset duration / third preset angle been reached? If yes, proceed to step 6; otherwise, return to step 4.

[0079] Step 6: Motor drive power output Pout = (Kd_UP·gngle_err) / decel_start_angle.

[0080] Step 7: Has the second preset angle been reached? If yes, proceed to step 8; otherwise, return to step 6.

[0081] Step 8: Motor drive power Pout = 10%.

[0082] Step 9: Has the second preset duration been reached? If yes, proceed to step 10; otherwise, return to step 8.

[0083] Step 10: Enter the upward braking stage.

[0084] Step 11: Has the sixth preset duration been reached? If yes, proceed to step 12; otherwise, return to step 10.

[0085] Step 12: The motor stops.

[0086] Stage 1) Start-up: Pout = ∫Kp_UP·dt increases linearly from 0-100%, reducing the large starting current of the motor. This stage is based on the first preset time t0 and the first preset angle a0. When either t0 or a0 is met, the second stage begins. This allows the output torque Pout to be automatically adjusted according to the weight of the cover / ring. Phase 2) Uniform speed: Pout = Kp_UP + (∫30) (dt), Pout remains between 60% and 100%. During this stage, a third preset time t1 and a third preset angle a1 are configured. When either t1 or a1 is met, the third stage begins. Phase 3) Deceleration: Position Adaptive Control: Pout = (Kd_UP) gngle_err) / decel_start_angle; Pout works according to this algorithm, dynamically adjusting its speed based on the angle from the target position to achieve a smooth stop. When it reaches the second preset angle a2, Pout output remains at 10% to prevent gravity backlash and jitter. After a delay of the second preset duration t2, it enters the next stage. Phase 4) Braking: Brake after reaching the endpoint angle, and stop after a delay of the sixth preset time t3.

[0087] Figure 6 This is a flowchart illustrating the implementation of a downward-folding control for an opening / closing component according to an embodiment of the present invention. Figure 6 As shown, the downward control algorithm for the opening and closing component in this embodiment is as follows: Step 1: Read the dynamic angle / status of the toilet seat / toilet rim.

[0088] Step 2: Motor drive power output Pout = ∫Kp_DW·dt.

[0089] Step 3: Has the fourth preset duration / fourth preset angle been reached? If yes, proceed to step 4; otherwise, return to step 2.

[0090] Step 4: Motor drive power output Pout = (Kd_DW·gngle_err) / decel_start_angle.

[0091] Step 5: Has the fifth preset angle been reached? If yes, proceed to step 6; otherwise, return to step 4.

[0092] Step 6: Motor drive power output Pout = (Kd_DW·gngle_err) / decel_start_angle.

[0093] Step 7: Has the destination been reached? If yes, proceed to step 8; otherwise, return to step 6.

[0094] Step 8: The motor stops.

[0095] Stage 1) Start-up: Pout = ∫Kp_DW·dt2 linearly increases from 0-60%, reducing the large starting current of the motor. In this stage, the fourth preset time t4 and the fourth preset angle a3 are configured. When either t4 or a3 is met, the second stage is entered. In this way, the output torque Pout can be automatically adjusted according to the weight of the cover / ring. Phase 2) Deceleration: Position Adaptive Control: Pout = (Kd_DW) gngle_err) / decel_start_angle; Pout works according to this algorithm, dynamically adjusting its speed based on the distance from the target position to achieve a smooth stop. When it reaches the fifth preset angle a4, it enters the next stage. Phase 3) Braking: Pout = (Kd_DW Pout operates according to this algorithm, applying torque in the opposite direction to brake and slow down the descent, stopping when it reaches the endpoint.

[0096] Figure 7 This is a flowchart illustrating the implementation of a double-insurance anti-collision system for an opening and closing component, as provided in an embodiment of the present invention. Figure 7 As shown, the control logic of the dual-insurance anti-collision system for the opening and closing components in this embodiment includes the following steps: Step 1: Has the toilet seat / seal command been received? If so, proceed to Step 2. Step 2: Perform the flip / circle operation.

[0097] Step 3: Is the flip cover / circle blocked? If so, proceed to step 4.

[0098] Step 4: If the toilet seat / seat is flipped up, then perform the flip-down operation; if the toilet seat / seat is flipped down, then perform the flip-up operation.

[0099] Step 5: Is the toilet seat / ring blocked again when you try to flip it? If so, proceed to step 6.

[0100] Step 6: Count the number of times the device was blocked.

[0101] Step 7: Has the number of blocking attempts reached 3? If yes, proceed to step 10; otherwise, return to step 6.

[0102] Step 8: Manually lift the toilet seat / ring to the preset angle and record the timeout.

[0103] Step 9: Determine if it is a quick-pull toilet seat / ring. If so, proceed to step 10.

[0104] Step 10: Release the motor of the toilet seat / seat.

[0105] Step 11: The toilet seat / ring reaches the target position.

[0106] Step 12: The motor stops.

[0107] During the upward / downward flipping process, if the system detects that the toilet seat / toilet ring angle ∫a5·dt is less than the first opening angle threshold, it determines that the toilet seat / toilet ring is obstructing the movement. The toilet seat / toilet ring then flips in the opposite direction until it reaches the end position. If the toilet seat / toilet ring is obstructed again during the reverse flipping process (if the system detects that ∫a5·dt is less than the toilet seat / toilet ring angle, it determines that the movement is obstructing the movement), the toilet seat / toilet ring then flips in the opposite direction until it reaches the end position. If the toilet seat / toilet ring performs an upward-blocking-downward-blocking-upwarding operation, repeating this cycle three times, the system will automatically release control to protect the motor and control circuit. In addition to this logic algorithm, the control system integrates current detection, which determines the blocking time through the current integral value ∫i·dt. When the current > △As, the system automatically releases control and stops working; this is a double insurance. When the time-angle failure occurs, the system is forcibly stopped through the current integral value ∫i·dt. Additionally, to improve the upward / downward speed of the toilet seat / ring when men urinate, simply increasing the upward speed would affect the motor's lifespan and the user (too fast an upward speed could cause injury). Therefore, improvements were made to the functional logic algorithm, as follows: Upon receiving the command to flip the toilet seat, the toilet lid is flipped up first. When the toilet lid reaches the flipping angle threshold (e.g., 50°), the toilet seat is flipped up immediately. Similarly, when flipping down, the toilet lid is flipped down immediately when the toilet seat is 50° lowered. With this setting, the toilet lid and seat work simultaneously for half the time, which greatly reduces the flipping time. Especially for the flipping function, this can greatly save users' time when they need to use it urgently, and avoid embarrassing situations.

[0108] In one embodiment, Figure 8 This is a schematic diagram of the opening and closing control device for a smart toilet provided in an embodiment of the present invention. Figure 8 As shown, the device includes: an information acquisition module 810, a power determination module 820, and an opening / closing control module 830.

[0109] The information acquisition module 810 is used to acquire the opening and closing adjustment coefficient, the deceleration angle, and the target duration and / or target angle; wherein the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet; The power determination module 820 is used to linearly increase the motor drive power with time according to the opening and closing adjustment coefficient to the target duration and / or target angle; The opening and closing control module 830 is used to adjust the motor drive power according to the deceleration angle and the target position when the opening and closing component reaches the preset position, so as to control the opening and closing component to reach the target position.

[0110] In one embodiment, the opening / closing adjustment coefficient includes a first upward adjustment coefficient; the target duration is a first preset duration, and the target angle is a first preset angle; the power determination module 820 includes: A power adjustment unit is used to linearly increase the motor drive power of the opening and closing component during the upward start-up phase based on the product of the first upward adjustment coefficient and the integral time variable. The control unit is used to automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the opening and closing component to flip up to a first preset angle, or the upward flipping duration of the opening and closing component reaches a first preset duration.

[0111] In one embodiment, the opening / closing adjustment coefficient includes a second upward adjustment coefficient; adjusting the motor drive power according to the deceleration angle and the target position to control the opening / closing component to reach the target position is specifically used for: Based on the product of the second upward adjustment coefficient, the angle difference between the target position and the current position, and the ratio of the deceleration angle, the motor drive power of the opening and closing component during the upward deceleration phase is output. The motor in the smart toilet is automatically controlled to rotate according to the motor drive power, and the opening and closing component is controlled to flip up to the target position or the second preset angle, or the flipping duration of the opening and closing component reaches the second preset duration.

[0112] In one embodiment, the opening and closing adjustment coefficient includes a first upward adjustment coefficient; the opening and closing control device for the smart toilet further includes: The power determination module is also used to linearly output the motor drive power of the opening and closing component during the uniform upward speed stage based on the first upward adjustment coefficient, the product of the first fixed value and the integral time variable. The opening and closing control module is also used to automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the opening and closing component to flip up to a third preset angle, or the upward flipping duration of the opening and closing component reaches a third preset duration.

[0113] In one embodiment, the opening / closing adjustment coefficient includes a first downward adjustment coefficient; the target duration is a fourth preset duration, and the target angle is a fourth preset angle; the power determination module 820 includes: A power adjustment unit is used to linearly increase the motor drive power of the opening and closing component during the downward start-up phase based on the product of the first downward adjustment coefficient and the integral variable time. The control unit is also used to automatically control the rotation of the motor in the smart toilet according to the motor drive power, so as to control the opening and closing component to flip down to a fourth preset angle, or the flipping duration of the opening and closing component reaches a fourth preset duration.

[0114] In one embodiment, the opening / closing adjustment coefficient includes a second downward adjustment coefficient; adjusting the motor drive power according to the deceleration angle and the target position to control the opening / closing component to reach the target position is specifically used for: Based on the product of the second downward adjustment coefficient and the angle difference between the target position and the current position, and the ratio of the deceleration angle, the motor drive power of the opening and closing component during the downward deceleration phase is determined. The motor in the smart toilet is automatically controlled to rotate according to the motor drive power, so as to control the opening and closing components to tilt down to the target position or the fifth preset angle.

[0115] In one embodiment, if the opening and closing component is in the downward braking stage, the opening and closing control device of the smart toilet further includes: The instruction generation module is used to generate motor reverse instructions; The opening and closing control module is also used to automatically control the motor in the smart toilet to rotate in reverse according to the motor drive power and motor reverse command, so as to control the opening and closing components in the smart toilet to perform reverse opening and closing operations.

[0116] In one embodiment, during the opening and closing process of the smart toilet, the smart toilet opening and closing control device further includes: Angle acquisition module is used to acquire the actual total opening and closing angle of the opening and closing components in the smart toilet within a preset time period in real time. The instruction generation module is used to generate a motor reverse instruction if the actual total opening and closing angle does not reach the first opening and closing angle threshold. Accordingly, the motor in the smart toilet is automatically controlled to rotate according to the motor drive power, thereby controlling the opening and closing operation of the opening and closing components in the smart toilet, specifically for: The smart toilet automatically controls the motor to rotate in reverse according to the motor drive power and motor reverse command, so as to control the opening and closing parts of the smart toilet to perform reverse opening and closing operations.

[0117] In one embodiment, the opening and closing components include: a toilet seat and a toilet seat; the opening and closing control device for the smart toilet further includes: The instruction generation module is also used to generate a toilet seat flip-up instruction when the toilet seat in the smart toilet has reached the flip-up angle threshold. The opening and closing control module is also used to control the toilet seat in the smart toilet to perform an upward opening operation according to the toilet seat opening command during the process of the toilet seat opening; and / or, The instruction generation module is also used to generate a toilet seat flipping instruction when the toilet seat in the smart toilet has reached the flipping angle threshold. The opening and closing control module is also used to control the toilet seat in the smart toilet to perform the opening and closing operation according to the toilet seat opening and closing command during the process of the toilet seat opening and closing.

[0118] The smart toilet opening and closing control device provided in this embodiment of the invention can execute the smart toilet opening and closing control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0119] In one embodiment, Figure 9 This is a structural block diagram of a smart toilet provided in an embodiment of the present invention, such as... Figure 9 The diagram illustrates a schematic of a smart toilet 10 that can be used to implement embodiments of the present invention. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0120] like Figure 9 As shown, the smart toilet 10 includes at least one main controller 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one main controller 11. The memory stores computer programs executable by the at least one main controller. The main controller 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the smart toilet 10. The main controller 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0121] Multiple components in the smart toilet 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard or mouse; an output unit 17, such as various types of displays or speakers; a storage unit 18, such as a disk or optical disc; and a communication unit 19, such as a network card, modem, or wireless transceiver. The communication unit 19 allows the smart toilet 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks. The smart toilet 10 also includes a motor 20 that is communicatively connected to the main controller, and a transmission mechanism 21 connected to the motor 20 for performing up / down operations on the toilet seat / toilet ring.

[0122] The main controller 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the main controller 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. The main controller 11 performs the various methods and processes described above, such as the opening and closing control method of a smart toilet.

[0123] In some embodiments, the opening and closing control method for the smart toilet can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the smart toilet 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by the main controller 11, one or more steps of the opening and closing control method for the smart toilet described above can be performed. Alternatively, in other embodiments, the main controller 11 can be configured to perform the opening and closing control method for the smart toilet by any other suitable means (e.g., by means of firmware).

[0124] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0127] To provide user interaction, the systems and technologies described herein can be implemented on a smart toilet, which includes: a display device for showing information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the smart toilet. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0128] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0129] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0130] This invention also provides a computer program product, including a computer program that, when executed by a processor, can implement the opening and closing control method for a smart toilet as provided in any embodiment of this application.

[0131] In the implementation of the computer program product, computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0132] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0133] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the opening and closing of a smart toilet, characterized in that, include: The opening and closing adjustment coefficient, deceleration angle, target duration, and / or target angle are obtained; wherein the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet. The motor drive power is linearly increased with time according to the opening and closing adjustment coefficient to the target duration and / or target angle; When the opening and closing component reaches the preset position, the motor drive power is adjusted according to the deceleration angle and the target position to control the opening and closing component to reach the target position.

2. The method according to claim 1, characterized in that, The opening / closing adjustment coefficient includes a first upward adjustment coefficient; the target duration is a first preset duration, and the target angle is a first preset angle; the step of linearly increasing the motor drive power according to the opening / closing adjustment coefficient over time to the target duration and / or target angle includes: Based on the product of the first upward adjustment coefficient and the integral time variable, the motor drive power of the opening and closing component during the upward start-up phase is linearly increased; The motor in the smart toilet is automatically controlled to rotate according to the motor drive power, so as to control the opening and closing component to flip up to a first preset angle, or the upward flipping duration of the opening and closing component reaches a first preset duration.

3. The method according to claim 1, characterized in that, The opening / closing adjustment coefficient includes a second upward adjustment coefficient; adjusting the motor drive power according to the deceleration angle and the target position to control the opening / closing component to reach the target position includes: Based on the product of the second upward adjustment coefficient, the angle difference between the target position and the current position, and the ratio of the deceleration angle, the motor drive power of the opening and closing component during the upward deceleration phase is output. The motor in the smart toilet is automatically controlled to rotate according to the motor drive power, and the opening and closing component is controlled to flip up to the target position or the second preset angle, or the flipping duration of the opening and closing component reaches the second preset duration.

4. The method according to claim 1, characterized in that, The opening and closing adjustment coefficient includes a first upward adjustment coefficient; the method further includes: Based on the first upward adjustment coefficient, and the product of the first fixed value and the integral time variable, the motor drive power of the opening and closing component during the upward uniform speed phase is linearly output. The motor in the smart toilet is automatically controlled to rotate according to the motor drive power, so as to control the opening and closing component to flip up to a third preset angle, or the upward flipping duration of the opening and closing component reaches a third preset duration.

5. The method according to claim 1, characterized in that, The opening / closing adjustment coefficient includes a first downward adjustment coefficient; the target duration is a fourth preset duration, and the target angle is a fourth preset angle; the step of linearly increasing the motor drive power to the target duration and / or target angle according to the opening / closing adjustment coefficient over time includes: Based on the product of the first downward adjustment coefficient and the integral variable time, the motor drive power of the opening and closing component during the downward start-up phase is linearly increased; The motor in the smart toilet is automatically controlled to rotate according to the motor drive power, so as to control the opening and closing component to tilt down to a fourth preset angle, or the tilting duration of the opening and closing component reaches a fourth preset duration.

6. The method according to claim 2, characterized in that, The opening / closing adjustment coefficient includes a second downward adjustment coefficient; adjusting the motor drive power according to the deceleration angle and the target position to control the opening / closing component to reach the target position includes: Based on the product of the second downward adjustment coefficient and the angle difference between the target position and the current position, and the ratio of the deceleration angle, the motor drive power of the opening and closing component during the downward deceleration phase is determined. The motor in the smart toilet is automatically controlled to rotate according to the motor drive power, so as to control the opening and closing components to tilt down to the target position or the fifth preset angle.

7. The method according to any one of claims 1-6, characterized in that, If the opening / closing component is in the downward braking phase, the method further includes: Generate motor reverse command; The motor in the smart toilet is automatically controlled to rotate in reverse according to the motor drive power and the motor reverse command, so as to control the opening and closing components in the smart toilet to perform reverse opening and closing operations.

8. The method according to any one of claims 1-6, characterized in that, During the opening and closing process of the smart toilet, the method further includes: The actual total opening and closing angle of the opening and closing components in the smart toilet is acquired in real time within a preset time period. If the actual total opening and closing angle does not reach the first opening and closing angle threshold, a motor reverse command is generated. The motor in the smart toilet is automatically controlled to rotate in reverse according to the motor drive power and the motor reverse command, so as to control the opening and closing components in the smart toilet to perform reverse opening and closing operations.

9. The method according to any one of claims 1-6, characterized in that, The opening and closing components include: a toilet seat and a toilet ring; the method further includes: When the toilet seat in the smart toilet reaches the upward angle threshold, a toilet seat upward command is generated. During the process of the toilet seat flipping up, the toilet seat in the smart toilet is controlled to perform the flipping operation according to the toilet seat flipping command; and / or, When the toilet seat in the smart toilet reaches the downward angle threshold, a toilet seat downward command is generated. During the process of the toilet seat flipping down, the toilet seat in the smart toilet is controlled to perform the flipping operation according to the toilet seat flipping command.

10. An opening and closing control device for an intelligent toilet, characterized in that, include: An information acquisition module is used to acquire the opening and closing adjustment coefficient, the deceleration angle, and the target duration and / or target angle; wherein the opening and closing adjustment coefficient corresponds to the opening and closing component in the smart toilet; A power determination module is used to linearly increase the motor drive power with time according to the opening and closing adjustment coefficient to the target duration and / or target angle; The opening and closing control module is used to adjust the motor drive power according to the deceleration angle and the target position when the opening and closing component reaches the preset position, so as to control the opening and closing component to reach the target position.

11. A smart toilet, characterized in that, The smart toilet includes: at least one main controller, a memory communicatively connected to the at least one main controller, and a motor communicatively connected to the at least one main controller; The memory stores a computer program that can be executed by the at least one main controller, which is then executed by the at least one main controller to enable the at least one main controller to perform the opening and closing control method of the smart toilet according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause the main controller to execute the opening and closing control method of the smart toilet as described in any one of claims 1-9.

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