Mobile device and curtain system

Abstract

The utility model relates to the field of equipment management and control, in particular to a mobile device and a curtain system.The mobile device comprises a driving mechanism, a detection mechanism, a first moving wheel, a second moving wheel and a controller, and the controller is connected with the driving mechanism and the detection mechanism; the controller is used for controlling the driving state of the driving mechanism and respectively determining a first rotating distance and a second rotating distance according to the first rotating signal and the second rotating signal generated by the detection mechanism; and generating a detection result representing whether the mobile device slips or not through the first rotation distance and the second rotation distance. And determining whether the mobile device is abnormal or not according to the difference between the first rotation distance and the second rotation distance. The detection result is related to the rotation distance of the first moving wheel and the second moving wheel, so that the slip condition can be easily detected by comparing the difference condition of the rotation distance of the first moving wheel and the second moving wheel, and the slip abnormity of the mobile equipment can be detected.

Description

Technical Field

[0001] The present application relates to the field of equipment control, and more specifically, to a mobile device and a curtain system. Background Art

[0002] Mobile devices refer to devices that can be moved, such as devices that slide and move by moving wheels or mechanical feet. This type of device is prone to slipping during movement, causing the actual moving distance to be inconsistent with the expected moving distance, thereby affecting the use of the mobile device. For example, in the smart home field, smart curtains, users can use smart terminals such as mobile phones to control the movement of smart curtains to open or close the smart curtains. Usually, the curtains of smart curtains are connected to a driving mechanism, and the moving wheels in the driving mechanism are in contact with the curtain track. The smart terminal sends a control instruction to the driving mechanism, causing the driver in the driving mechanism to drive the moving wheels to rotate, so that the curtains follow the driving mechanism to move along the curtain track.

[0003] If slippage occurs during the rotation of the moving wheel, the curtain will not be able to move to the position specified by the user (because the actual moving distance is less than the expected moving distance), reducing the user experience of the smart curtain. Summary of the invention

[0004] The present application provides a mobile device and a curtain system to at least solve the technical problem of how to detect abnormalities in a mobile device.

[0005] According to a first aspect of an embodiment of the present application, there is provided a mobile device, including a driving mechanism, a detection mechanism, a first moving wheel and a second moving wheel;

[0006] The first moving wheel and the second moving wheel are used for sliding with the track, the driving mechanism is connected with the first moving wheel, and the driving mechanism is used for driving the first moving wheel to rotate so that the second moving wheel rotates following the movement of the first moving wheel;

[0007] The detection mechanism is connected to the first moving wheel and the second moving wheel, and is used to generate a first rotation signal when the first moving wheel rotates, and to generate a second rotation signal when the second moving wheel rotates;

[0008] The mobile device also includes a controller, which is connected to the driving mechanism and the detection structure. The controller is used to control the driving state of the driving mechanism and determine the first rotation distance and the second rotation distance respectively according to the first rotation signal and the second rotation signal generated by the detection mechanism, and generate a detection result representing whether the mobile device is slipping through the first rotation distance and the second rotation distance.

[0009] According to a second aspect of an embodiment of the present application, a curtain system is provided, comprising a curtain, a track and the above-mentioned mobile device;

[0010] The curtain is connected to the moving device, and a first moving wheel and a second moving wheel of the moving device are slidably arranged on the track.

[0011] In an embodiment of the present application, during the movement of the mobile device, the detection mechanism can obtain the rotation signals of the first moving wheel and the second moving wheel, and the controller determines the first rotation distance of the first moving wheel according to the first rotation signal of the first moving wheel, and determines the second rotation distance of the second moving wheel according to the second rotation signal of the second moving wheel. By the difference between the first rotation distance and the second rotation distance, it is determined whether there is an abnormality in the mobile device. Since the detection result is related to the rotation distance of the first moving wheel and the second moving wheel, it is easy to detect the slipping situation by comparing the difference in the rotation distance of the first moving wheel and the second moving wheel, thereby realizing the detection of the slipping abnormality of the mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The diagram is a schematic diagram of an application environment of an abnormality detection method for a mobile device in an embodiment.

[0013] Figure 2 The present invention is a flowchart of a method for detecting anomalies in a mobile device in an embodiment.

[0014] Figure 3 The present invention is a schematic diagram of signal transmission in a method for detecting anomalies in a mobile device in an embodiment.

[0015] Figure 4 The diagram is a schematic diagram of a rotation signal generated when two Halls are set in a mobile device in an embodiment.

[0016] Figure 5 The figure is a schematic diagram of the location of the Hall detector of a mobile device in an embodiment.

[0017] Figure 6 It is a schematic diagram of the structure of a mobile device in an embodiment.

[0018] Figure 7 The present invention is a structural block diagram of an abnormality detection device of a mobile device in an embodiment.

[0019] Figure 8 is a structural block diagram of an electronic device in an embodiment.

[0020] Explanation of the numbers: 1. DC motor; 2. Driving wheel; 3. Driven wheel; 4. Hall detector; 5. Buckle; 6. Track; 7. Hook; 8. Stepper motor; 9. Bracket; 10. Push rod; 11. Magnet. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] According to an embodiment of the present application, an embodiment of an anomaly detection method for a mobile device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] The abnormality detection method of the mobile device provided in this application can be applied to Figure 1 In the application environment shown, the smart device 001 communicates with the terminal device 002 through a network. It should be understood that the smart device 001 generally refers to one of a plurality of smart devices, and the embodiment of the present application only takes the smart device 001 as an example.

[0025] The terminal device 002 can obtain the rotation signals of multiple moving wheels of the smart device 001 from the smart device 001, and then determine the rotation distance of each moving wheel according to the rotation signals of each moving wheel, and finally generate a detection result representing whether the smart device is abnormal through the difference between the rotation distances. Optionally, the smart device 001 can be a smart home device, and the smart home device is not limited to a variety of smart home appliances, sensors and detection devices set in the indoor space, such as smart TVs, smart refrigerators, smart air conditioners, temperature and humidity sensors, pressure sensors, smoke sensors, smart sockets, smart lamps, infrared transmitters, radar devices and camera devices. Exemplarily, the number of smart devices 001 can be at least one, and the terminal device 002 can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart control panel, other electronic devices with display functions, etc., which are not limited here.

[0026] Smart device 001 may be a smart home device, and smart home devices include intelligent mobile devices (that is, intelligent mobile devices are one type of smart home settings), wherein intelligent mobile devices refer to devices that can be moved by remote control signals, such as devices that slide and move by moving wheels or mechanical feet. This type of device is prone to slipping during movement, causing the actual moving distance to be inconsistent with the expected moving distance, thereby affecting the use of the mobile device. For example, smart curtains in the field of smart homes are one type of intelligent mobile devices, and users can use terminal devices 002 such as mobile phones to control the movement of smart curtains to open or close the smart curtains. Usually, the curtains of smart curtains are connected to a driving mechanism, and the moving wheels in the driving mechanism are in contact with the curtain track. The intelligent terminal sends a control instruction to the driving mechanism, causing the driver in the driving mechanism to drive the moving wheels to rotate, so that the curtains follow the driving mechanism to move along the curtain track.

[0027] If slippage occurs during the rotation of the moving wheel, the curtain will not be able to move to the position specified by the user (because the actual moving distance is less than the expected moving distance), reducing the user experience of the smart curtain.

[0028] Based on this, the present application provides a method for detecting abnormalities in a mobile device. For ease of understanding, the above-mentioned smart device is used as an example to detect abnormalities in the mobile device. Figure 2 As shown, the abnormality detection method of the mobile device includes:

[0029] S101, obtaining a first rotation signal of a first moving wheel and a second rotation signal of a second moving wheel of a mobile device.

[0030] During the movement of the mobile device, the first moving wheel and the second moving wheel contained therein will rotate. During the rotation, a rotation signal, namely, a first rotation signal and a second rotation signal, will be generated.

[0031] The mobile device refers to a device that can be moved, such as smart curtains and smart doors in smart home devices. The mobile device includes at least a first moving wheel and a second moving wheel, and may also include more moving wheels, which is not specifically limited in this embodiment.

[0032] Among them, the first moving wheel and the second moving wheel refer to the wheel body used to drive the mobile device to move, which can be a conventional circular wheel or a mechanical foot that drives the mobile device to move by rotating. That is to say, although this embodiment is named as a moving wheel, it can be any device that can drive the mobile device to move. The first moving wheel and the second moving wheel can be driven by the same driver or by different drivers, and this embodiment does not make specific restrictions on this. It should be noted that in order to be able to generate corresponding detection results when the mobile device just slips, the first moving wheel and the second moving wheel are a front wheel and a rear wheel on the mobile device. That is to say, the first moving wheel and the second moving wheel are arranged in sequence along the length direction of the moving path of the mobile device, forming a front and a rear, and as for whether the first moving wheel is in front or in the rear, this embodiment does not make specific restrictions.

[0033] The first rotation signal is used to reflect the rotation of the first moving wheel, and the second rotation signal is used to reflect the rotation of the second moving wheel. Taking the first moving wheel as an example, the rotation condition may be the rotation speed, rotation duration, etc. of the first moving wheel, and the purpose is to determine the rotation distance of the first moving wheel through the first rotation signal. The second rotation signal is the same and will not be described in detail.

[0034] Among them, the first rotation signal and the second rotation signal can be detected by corresponding types of sensors, or can be directly generated by instruments such as rangefinders. That is to say, this embodiment does not limit the specific generation method of the first rotation signal and the second rotation signal, which can be determined according to actual needs and / or detection conditions.

[0035] S102: Determine a first rotation distance of the first moving wheel according to the first rotation signal.

[0036] Since the first rotation signal represents the rotation of the first moving wheel, the first rotation distance of the first moving wheel can be determined through the first rotation signal. Specifically, for example, the rotation duration of the first moving wheel and the rotation speed of the first moving wheel can be known through the first rotation signal, and the first rotation distance can be determined by calculation. For another example, the first rotation distance can be calculated by the number of peaks of the signal in the first rotation signal and the unit distance that each peak represents for the rotation of the first moving wheel. In other words, how to determine the first rotation distance according to the first rotation signal is determined according to the specific rotation situation represented by the first rotation signal. It can be obtained by multiplying the speed by the time, or by multiplying the unit distance by the number of signal triggers to obtain the distance. This embodiment does not make specific limitations on this.

[0037] S103, determining a second rotation distance of the second moving wheel according to the second rotation signal.

[0038] It is the same as the first rotation distance, which will not be described here. It should be noted that the rotation conditions represented by the first rotation signal and the second rotation signal can be different. For example, the first rotation signal and the second rotation signal are obtained using different detection methods, so that the first rotation signal can reflect the rotation speed and rotation duration of the first moving wheel, and the second rotation signal can reflect the number of signal triggers. Therefore, the calculation method of the first rotation distance is different from the calculation method of the second rotation distance. This embodiment does not make specific limitations on this.

[0039] S104: Generate a detection result indicating whether the mobile device is abnormal based on the difference between the first rotation distance and the second rotation distance.

[0040] Since the first moving wheel and the second moving wheel are both installed on the mobile device and are used to drive the mobile device to move, under normal circumstances, the first rotation distance and the second rotation distance should be the same, or the difference should be within a normal fluctuation range. If there is a large difference between the first rotation distance and the second rotation distance, it proves that the first moving wheel and the second moving wheel are slipping, and then a detection result indicating whether the mobile device is abnormal can be generated.

[0041] Among them, the difference situation is used to characterize whether there is a difference between the first rotation distance and the second rotation distance, that is, whether they are different. For example, the numerical value characterizing the first rotation distance is compared with the numerical value of the second rotation distance. If the two numerical values ​​are different, it proves that there is a difference. If the two numerical values ​​are the same, it proves that there is no difference. In addition, the difference situation can also be used to characterize the difference between the first rotation distance and the second rotation distance, that is, the difference value. For example, the numerical value characterizing the first rotation distance is subtracted from the numerical value of the second rotation distance. If the difference is 0, it proves that there is no difference, that is, the difference size is 0. If it is greater than 0 or less than 0, it proves that there is a difference, and the specific difference value is the difference size.

[0042] The abnormality of the mobile device includes whether the mobile device is slipping. The detection result is used to characterize whether the mobile device has the abnormality of slipping. The specific form of the detection result is not specifically limited in this embodiment. For example, when the detection result is 1, it proves that the abnormality of slipping exists, and when it is 0, it proves that the abnormality of slipping does not exist. For another example, when the detection result is yes, it proves that the abnormality of slipping exists, and when it is no, it proves that the abnormality of slipping does not exist.

[0043] Through the above content, during the movement of the mobile device, the rotation signals of the first moving wheel and the second moving wheel of the mobile device can be obtained, so as to determine the first rotation distance of the first moving wheel according to the first rotation signal of the first moving wheel, and determine the second rotation distance of the second moving wheel according to the second rotation signal of the second moving wheel. By the difference between the first rotation distance and the second rotation distance, it is determined whether there is an abnormality in the mobile device. Since the detection result is related to the rotation distance of the first moving wheel and the second moving wheel, it is easy to detect abnormal conditions such as slipping by comparing the difference in the rotation distance of the first moving wheel and the second moving wheel, thereby realizing the detection of slipping abnormalities in the mobile device.

[0044] In another embodiment of the present application, determining a first rotation distance of the first moving wheel according to the first rotation signal includes:

[0045] The first rotation distance is determined according to the number of peaks and / or troughs in the first rotation signal.

[0046] In one embodiment, the first rotation signal includes peaks and troughs, that is, during the rotation of the first moving wheel, the sensor will be triggered, and once the sensor is triggered, a peak or trough will appear in the first rotation signal. The first rotation distance can be obtained by the number of peaks and / or troughs.

[0047] For ease of understanding, for example, when the first rotation signal is generated, a peak will appear in the first rotation signal each time the first moving wheel rotates one circle. The number of peaks is the number of circles the first moving wheel rotates. After knowing the number of circles the first moving wheel actually rotates, the first rotation distance can be obtained by multiplying the number of circles by the circumference of the first moving wheel.

[0048] Determining a second rotation distance of the second moving wheel according to the second rotation signal includes:

[0049] The second rotation distance is determined according to the number of peaks and / or troughs in the second rotation signal.

[0050] The method for determining the second rotation distance is the same as that for the first rotation distance, and will not be described in detail.

[0051] Through the above content, the first rotation distance and the second rotation distance can be determined by utilizing the number of peaks / troughs in the first rotation signal and the second rotation signal, which is beneficial to improving computing efficiency and saving computing resources, thereby improving the efficiency of abnormality detection and enabling the slippage of the mobile device to be detected in real time.

[0052] In another embodiment of the present application, determining the first rotation distance according to the number of peaks and / or troughs in the first rotation signal includes:

[0053] S301 , calculating the sum of the numbers of peaks and troughs in a first rotation signal to obtain a first total number.

[0054] In one embodiment, the first rotation signal includes peaks and troughs, and each peak and trough can represent that the first moving wheel has rotated a certain distance. Therefore, the sum of the number of peaks and troughs in the first rotation signal is first calculated to obtain the first total number.

[0055] For ease of understanding, in one embodiment, a plurality of magnetic members may be provided on the first moving wheel, and the plurality of magnetic members may be provided on different radial directions of the first moving wheel, and the polarities of the plurality of magnetic members may be different, such as SNSN arrangement or SSSSNSSSSN arrangement. Thus, when a magnetic member with a polarity of S rotates with the first moving wheel and passes through the sensor, the sensor generates a peak in the first rotation signal, and when a magnetic member with a polarity of N rotates with the first moving wheel and passes through the sensor, the sensor generates a trough in the first rotation signal. Thus, as the first moving wheel rotates, peaks and troughs continuously appear in the first rotation signal, thereby obtaining a first total number.

[0056] S302: Obtain a first number of rotations of the first moving wheel by comparing the first total number with a preset first total number of single rotations.

[0057] The first number of rotations of the first moving wheel can be determined by dividing the first total number by the first single-circle total number, that is, the number of rotations actually made by the first moving wheel can be determined.

[0058] The first single-turn total represents the sum of the number of peaks and troughs triggered when the first moving wheel rotates one turn. For ease of understanding, taking magnetic parts as an example, a number of magnetic parts are set on the first moving wheel. When the first moving wheel rotates one turn, the number of peaks and troughs that can appear is a fixed value, which is the first single-turn total.

[0059] S303: multiply the first number of rotations by the circumference of the first moving wheel to obtain a first rotation distance.

[0060] The actual rotation distance of the first moving wheel, ie, the first rotation distance, can be obtained by multiplying the number of revolutions actually made by the first moving wheel by the circumference of the first moving wheel.

[0061] The circumference of the first moving wheel is a pre-known value, and this embodiment does not specifically limit how to obtain it.

[0062] Determining the second rotation distance according to the number of peaks and / or troughs in the second rotation signal includes:

[0063] S304: Calculate the sum of the numbers of the peaks and the troughs in the second rotation signal to obtain a second total number.

[0064] In one embodiment, the second rotation signal includes peaks and troughs, and each peak and trough can represent that the second moving wheel rotates a certain distance. Therefore, the sum of the number of peaks and troughs in the second rotation signal is first calculated to obtain the second total number.

[0065] For ease of understanding, in one embodiment, a plurality of magnetic members may be provided on the second moving wheel, and the plurality of magnetic members may be provided on different radial directions of the second moving wheel, and the polarities of the plurality of magnetic members may be different, such as SNSN arrangement or SSSSNSSSSN arrangement. Thus, when a magnetic member with a polarity of S rotates with the second moving wheel and passes through the sensor, the sensor generates a peak in the second rotation signal, and when a magnetic member with a polarity of N rotates with the second moving wheel and passes through the sensor, the sensor generates a trough in the second rotation signal. Thus, as the second moving wheel rotates, peaks and troughs continuously appear in the second rotation signal, thereby obtaining a second total.

[0066] S305: Obtain a second number of rotations for the second moving wheel by comparing the second total number with a preset second total number of single revolutions.

[0067] The second number of rotations of the second moving wheel can be determined by dividing the second total number by the second single-circle total number, that is, the number of rotations actually made by the second moving wheel can be determined.

[0068] The second single-turn total represents the sum of the number of peaks and troughs triggered when the second moving wheel rotates one turn. For ease of understanding, taking magnetic parts as an example, a number of magnetic parts are set on the second moving wheel. When the second moving wheel rotates one turn, the number of peaks and troughs that can appear is a fixed value, which is the second single-turn total.

[0069] S306: Multiply the second number of rotations by the circumference of the second moving wheel to obtain a second rotation distance.

[0070] The actual rotation distance of the second moving wheel, ie, the second rotation distance, can be obtained by multiplying the number of revolutions actually made by the second moving wheel by the circumference of the second moving wheel.

[0071] The circumference of the second moving wheel is a pre-known value, and this embodiment does not specifically limit how to obtain it.

[0072] Through the above content, the first rotation distance is obtained by determining the actual number of rotations of the first moving wheel, and the second rotation distance is obtained by determining the actual number of rotations of the second moving wheel. The calculation is simple, which is conducive to improving calculation efficiency and saving calculation resources, thereby improving the efficiency of abnormality detection and enabling the slippage of the mobile device to be detected in real time.

[0073] In another embodiment of the present application, the method further comprises:

[0074] The calculation method of the first rotation distance includes:

[0075] N1 / M1*2πR1;

[0076] Among them, N1 is the first total number, M1 is the first single circle total number, and R1 is the radius of the first moving wheel.

[0077] The calculation method of the second rotation distance includes:

[0078] N2 / M2*2πR2;

[0079] Wherein, N2 is the second total number, M2 is the second single circle total number, and R2 is the radius of the second moving wheel.

[0080] Through the above content, the calculation process is simple, which is conducive to improving calculation efficiency and saving calculation resources, thereby improving the efficiency of anomaly detection and enabling the slippage of the mobile device to be detected in real time.

[0081] In another embodiment of the present application, generating a detection result according to the difference between the first rotation distance and the second rotation distance includes:

[0082] S501: Calculate the difference between the first rotation distance and the second rotation distance.

[0083] Specifically, the difference can be obtained by subtracting the second rotation distance from the first rotation distance. Correspondingly, the difference can also be obtained by subtracting the first rotation distance from the second rotation distance. The absolute value of the difference can also be calculated after the difference is obtained to ensure that the difference is a positive number, which is not specifically limited in this embodiment.

[0084] S502: Generate a detection result according to the matching of the difference value and the error range.

[0085] In one embodiment, an error range is preset. If the difference is within the error range, it is proved that the difference matches the error range, thereby generating a test result indicating no abnormality. Otherwise, the difference does not match the error range, and a test result indicating an abnormality is generated.

[0086] The error range is preset and is determined based on the difference between the first rotation distance and the second rotation distance when the first moving wheel and the second moving wheel rotate normally, that is, when neither of them slips. For example, under normal circumstances, it is known through experiments that the difference between the first rotation distance and the second rotation distance will not exceed 0.5 cm, so the error range can be set to 0-0.5 cm, and then the difference can be compared with the error range. If the difference exceeds 0.5 cm, it proves that slippage has occurred.

[0087] Through the above content, by calculating the difference between the first rotation distance and the second rotation distance, and matching the difference with a preset error range, a detection result is obtained, which helps to improve the accuracy of the detection result and reduce the misjudgment rate.

[0088] In another embodiment of the present application, the error range is set by the radius of the first moving wheel and / or the radius of the second moving wheel.

[0089] In one embodiment, the error range is related to the radius of the first moving wheel and / or the radius of the second moving wheel. When setting the error range, it is set according to the radius of the first moving wheel and / or the radius of the second moving wheel. For ease of understanding, for example, taking the radius of the first moving wheel as an example, the circumference of the first moving wheel is calculated by the radius of the first moving wheel, and the error range is set to not exceed one tenth of the circumference of the first moving wheel. That is, the error range = 1 / 10*2πR1, where R1 is the radius of the first moving wheel.

[0090] According to the above content, determining the error range by the radius of the first moving wheel and / or the radius of the second moving wheel helps to improve the accuracy of the detection result and reduce the misjudgment rate.

[0091] In another embodiment of the present application, the method further comprises:

[0092] If the detection result is abnormal, a control instruction is output to control the mobile device to increase the clamping force between the first moving wheel and / or the second moving wheel and the track 6.

[0093] The abnormal detection result proves that the first moving wheel and / or the second moving wheel has slipped, so the corresponding control instruction is output to make the mobile device increase the clamping force between the first moving wheel and / or the second moving wheel and the track 6, thereby solving the slipping phenomenon and increasing the friction between the first moving wheel and / or the second moving wheel and the track 6, making it less likely to slip.

[0094] Among them, the control instruction refers to a pre-set instruction used to control the mobile device to increase the clamping force between the first moving wheel and / or the second moving wheel and the track 6. This embodiment does not limit the specific structure and content of the control instruction, and is intended to be able to perform relevant control on the mobile device.

[0095] How to increase the clamping force between the first moving wheel and the second moving wheel and the track 6 is determined according to the specific structure of the mobile device. For ease of understanding, for example, a clamping mechanism is provided in the mobile device. When it is necessary to increase the clamping force between the first moving wheel and the track 6, the first clamping mechanism of the mobile device is activated to drive the first moving wheel to move a distance in the direction close to the track 6, so that the interaction force between the first moving wheel and the track 6 is increased, and the clamping force is increased. When it is necessary to increase the clamping force between the second moving wheel and the track 6, the second clamping mechanism of the mobile device is activated to drive the second moving wheel to move a distance in the direction close to the track 6, so that the interaction force between the second moving wheel and the track 6 is increased, and the clamping force is increased. In addition, the mobile device may also include only one clamping mechanism. Regardless of which of the first moving wheel and the second moving wheel slips, the clamping force between the first moving wheel and the second moving wheel and the track 6 is increased at the same time.

[0096] The clamping force refers to the interaction force between the moving wheel and the track 6, and can also be understood as the abutment force, pressure or friction force between the moving wheel and the track 6. Specifically, when the clamping force between the moving wheel and the track 6 increases, the moving wheel is closer to the track 6.

[0097] Through the above content, while detecting abnormal conditions of the mobile device in real time, once slipping occurs, the clamping force between the first moving wheel and / or the second moving wheel and the track 6 is adjusted in real time to solve the slipping phenomenon, thereby ensuring the control accuracy of the moving distance of the mobile device and improving the user experience of the mobile device.

[0098] For ease of understanding, the method in this embodiment is described by taking the smart curtains in the smart home device as an example of a mobile device.

[0099] The smart curtain includes a curtain companion, a curtain fabric and a curtain track 6. The curtain fabric is arranged on the curtain companion and moves synchronously with the curtain companion. The curtain companion is slidably connected to the curtain track 6 via a moving wheel. When the curtain companion receives an instruction to move the curtain fabric, it controls the moving wheel to rotate to drive the curtain fabric to move.

[0100] During the rotation of the moving wheel, the sensor in the curtain companion detects the moving wheel in real time and generates a rotation signal. Specifically, it includes a first moving wheel and a second moving wheel arranged in sequence along the length direction of the curtain track 6, wherein the first moving wheel is connected to the DC motor 1 in the curtain companion, as a driving wheel 2, driven by the DC motor 1, and the second moving wheel is a driven wheel 3. During the movement of the curtain companion, it rotates passively due to the friction between it and the curtain track 6.

[0101] One or more magnets 11 with NS poles placed crosswise are embedded on the driving wheel 2 and the driven wheel 3, and one or more Hall sensors 4 are respectively arranged below the driving wheel 2 and the driven wheel 3 to detect the NS poles of the magnets 11. (The number of magnets 11 on the two wheels may be different).

[0102] For example, the driving wheel 2 and the driven wheel 3 both have two Hall detectors 4 and five pairs of N-S pole magnets 11, and the driving wheel 2 and the driven wheel 3 are of the same size. When the driving wheel 2 rotates and drives the curtain companion to move on the track 6, the driven wheel 3 follows and rotates. The magnets 11 on the driving wheel 2 and the driven wheel 3 rotate synchronously. Whenever the magnet 11 passes through the Hall detector 4, the Hall detector 4 will output a square wave, that is, the rotation signal of the driving wheel 2 and the rotation signal of the driven wheel 3 are obtained. The square wave is reflected in the rotation signal in the form of a peak or a trough, specifically, the N pole can be a peak and the S pole can be a trough.

[0103] In this way, the number of peaks and troughs of the rotation signal of the driving wheel 2 can be calculated to obtain N1, and the number of peaks and troughs of the rotation signal of the driven wheel 3 can be calculated to obtain N2. Then the moving distance of the driving wheel 2 is calculated, specifically N1 / 10*2πR1, where N1 is the sum of the number of peaks and troughs of the rotation signal of the driving wheel 2, 10 is the sum of the number of NS-level magnets 11 on the driving wheel 2, and R1 is the radius of the driving wheel 2.

[0104] Calculate the moving distance of the driven wheel 3, specifically N2 / 10*2πR2, where N2 is the sum of the number of peaks and troughs of the rotation signal of the driven wheel 3, 10 is the sum of the number of NS-level magnets 11 on the driven wheel 3, and R2 is the radius of the driven wheel 3.

[0105] Finally, the moving distance of the driven wheel 3 is subtracted from the moving distance of the driving wheel 2 to obtain the difference value, and then the difference value is compared with the preset error. If the difference value exceeds the error, it indicates that slippage occurs, otherwise it indicates that slippage does not occur. The specific error calculation method is: 1 / 10*2πR1.

[0106] If slippage occurs, the stepper motor 8 on the curtain companion is controlled to start, driving the driving wheel 2 and the driven wheel 3 to move a preset unit distance toward the curtain rail 6, thereby increasing the clamping force between the driving wheel 2 and the driven wheel 3 and the curtain rail 6.

[0107] According to the above content, when the curtain companion drives the curtain fabric to move, if the driving wheel 2 and / or the driven wheel 3 are not pressed and fitted with the curtain track 6, the wheels will rotate but the curtain companion will not move, which is called slippage. By comparing the difference in the moving distance between the driving wheel 2 and the driven wheel 3, the slippage of the curtain companion can be discovered in time and solved in time, which improves the control accuracy of the moving distance of the curtain companion, thereby helping to ensure the full opening and closing of the curtain fabric, and it is not easy to affect the use of the smart curtain due to slippage.

[0108] The present application also provides a mobile device, including a driving mechanism, a detection mechanism, a first moving wheel and a second moving wheel;

[0109] The first moving wheel and the second moving wheel are used to be slidably arranged with the track 6, and the driving mechanism is connected to the first moving wheel, and the driving mechanism is used to drive the first moving wheel to rotate, so that the second moving wheel rotates following the movement of the first moving wheel;

[0110] The detection mechanism is connected to the first moving wheel and the second moving wheel, and is used to generate a first rotation signal when the first moving wheel rotates, and to generate a second rotation signal when the second moving wheel rotates;

[0111] The mobile device also includes a controller, which is connected to the driving mechanism and the detection structure. The controller is used to control the driving state of the driving mechanism and determine the first rotation distance and the second rotation distance respectively according to the first rotation signal and the second rotation signal generated by the detection mechanism, and generate a detection result characterizing whether the mobile device is abnormal through the first rotation distance and the second rotation distance.

[0112] In an application scenario, such as Figure 3 As shown, the driving mechanism drives the first moving wheel to move, and the first moving wheel is restricted by the track 6 and moves along the length direction of the track 6. The second moving wheel acts as the driven wheel 3 and moves synchronously with the first moving wheel. During the movement of the first moving wheel and the second moving wheel, the detection mechanism ( Figure 3The Hall sensor in the embodiment detects the movement of the first moving wheel and the second moving wheel, and generates a first rotation signal ( Figure 3 The square wave in the second moving wheel) and the second rotation signal corresponding to the second moving wheel ( Figure 3 The square wave in the figure) and then transmits the first rotation signal and the second rotation signal to the controller ( Figure 3 The controller determines a first rotation distance corresponding to the first moving wheel and a second rotation distance corresponding to the second moving wheel according to the first rotation signal and the second rotation signal, and then generates a detection result for reflecting whether there is movement abnormality in the mobile device, so that when an abnormality occurs in the mobile device, timely feedback can be provided to thereby solve the problem.

[0113] Among them, the driving mechanism refers to a mechanical structure that drives the first moving wheel to rotate, which can be a mechanical mechanism or a combination of multiple mechanical mechanisms, and this embodiment does not make specific limitations on this. For example, the driving mechanism includes a motor and a reduction gearbox. For ease of understanding, taking curtains as a mobile device as an example, the curtain fabric is connected to the first moving wheel, and the driving mechanism uses a DC motor 1 and a gearbox. The output shaft of the DC motor 1 is connected to the input end of the gearbox, and the output end of the gearbox is connected to a synchronous belt. The end of the synchronous belt away from the gearbox is connected to the first moving wheel, so that after the DC motor 1 is started, the output shaft drives the gear at the input end of the gearbox to rotate, and the rotation speed is adjusted through the transmission between the gears in the gearbox. The gear at the output end of the gearbox drives the synchronous belt to rotate at the adjusted speed, thereby driving the first moving wheel to slide along the track 6.

[0114] The detection mechanism refers to a device capable of detecting the rotation of the first moving wheel and the second moving wheel, such as a device for detecting the rotation speed of the first moving wheel and the second moving wheel, or a device for detecting the rotation distance of the first moving wheel and the second moving wheel, which is not specifically limited in this embodiment. For ease of understanding, for example, taking a curtain as a mobile device, the detection mechanism can be an angular velocity sensor installed on the first moving wheel and the second moving wheel to obtain the rotation speed of the first moving wheel and the second moving wheel.

[0115] The first moving wheel and the second moving wheel refer to mechanical structures that can slide along the track 6, and are not limited to the wheel body. The names are just for the sake of ease of understanding. It can be understood that the structure that can replace the wheel body can also be regarded as the first moving wheel and the second moving wheel in this embodiment, such as a mechanical leg.

[0116] The first rotation signal is used to reflect the rotation of the first moving wheel, and the second rotation signal is used to reflect the rotation of the second moving wheel. Taking the first moving wheel as an example, the rotation condition may be the rotation speed, rotation duration, etc. of the first moving wheel, and the purpose is to determine the rotation distance of the first moving wheel through the first rotation signal. The second rotation signal is the same and will not be described in detail.

[0117] Among them, the first rotation signal and the second rotation signal can be detected by corresponding types of sensors, or can be directly generated by instruments such as rangefinders. That is to say, this embodiment does not limit the specific generation method of the first rotation signal and the second rotation signal, which can be determined according to actual needs and / or detection conditions.

[0118] Through the above content, when the mobile device is moving, the rotation of the first moving wheel and the second moving wheel is detected in real time by the detection mechanism, so that the controller can detect the abnormal conditions of the first moving wheel and the second moving wheel in real time and generate corresponding detection results. Real-time monitoring of the mobile device is achieved, and it is easy to detect and know in time when the mobile device slips, which helps to avoid long-term slipping of the mobile device and affect the user experience of the mobile device.

[0119] In another embodiment of the present application, the detection mechanism includes a plurality of magnetic members arranged on the first moving wheel and the second moving wheel, and the plurality of magnetic members are arranged on the first moving wheel and the second moving wheel with alternating polarities;

[0120] The detection mechanism also includes a first detector arranged on one side of the first moving wheel and a second detector arranged on one side of the second moving wheel;

[0121] The first detector is used to detect the polarity of the magnetic member passing by when the first moving wheel rotates, and generate a first rotation signal;

[0122] The second detector is used to detect the polarity of the passing magnetic member when the second moving wheel rotates, and generate a second rotation signal.

[0123] The magnetic member on the first moving wheel will rotate with the first moving wheel. When the magnetic member on the first moving wheel passes through the first detector, the first detector will be sensed, so that the first rotation signal of the first detector can indicate when the magnetic member passes by. In this way, the first rotation distance of the first moving wheel can be determined according to the first rotation signal.

[0124] For ease of understanding, curtains are used as a mobile device for illustration. When a magnetic member is installed on the first moving wheel, the magnetic member will pass through the first detector once for each rotation of the first moving wheel, and a peak will appear in the first rotation signal. Since the circumference of the first moving wheel is fixed, the first rotation distance of the first moving wheel can be determined by calculating the number of peaks in the first rotation signal and then multiplying it by the circumference of the first moving wheel. When multiple magnetic members are installed on the first moving wheel, due to the alternating polarity of the multiple magnetic members, when the S-pole magnetic member passes through the first detector, a peak will appear in the first rotation signal, and when the N-pole magnetic member passes through the first detector, a trough will appear in the first rotation signal. Since the number of magnetic members installed on the first moving wheel is fixed, it can be known that several peaks and troughs will appear for each rotation of the first moving wheel, so the total number of rotations of the first moving wheel can be determined by the total number of peaks and troughs in the first rotation signal, and the first rotation distance of the first moving wheel can be determined by multiplying the total number of rotations by the circumference of the first moving wheel. The principle of the second moving wheel is the same as that of the first moving wheel, and will not be described in detail.

[0125] The magnetic component refers to a device with magnetism, such as a magnet 11 or a coil, which is not specifically limited in this embodiment.

[0126] The first detector and the second detector refer to devices that can sense magnetic components, such as Hall sensors, which are not specifically limited in this embodiment.

[0127] The polarity refers to the polarity of the magnetic part, that is, the N pole and the S pole, wherein the N pole is also called the North pole and the S pole is also called the South pole. Alternating polarity means that adjacent magnetic parts have different polarities.

[0128] According to the above content, by setting the magnetic part, the first detector and the second detector, the rotation signals of the first moving wheel and the second moving wheel are detected, the structure is simple, which helps to reduce costs and space occupancy.

[0129] In another embodiment of the present application, a plurality of first detectors are provided, and a plurality of second detectors are provided;

[0130] The controller is used to determine the rotation direction of the first moving wheel and / or the second moving wheel according to the sequence in which the multiple first detectors or the multiple second detectors generate signals.

[0131] For ease of understanding, Figure 4As shown, the first detector is used as an example for explanation, and the second detector is the same and will not be described in detail. When there are two first detectors, the two first detectors are divided into left and right. If the first moving wheel rotates clockwise, the first detector on the right side will first sense the magnetic part, thereby generating a pulse signal, that is, forming a peak or a trough; on the contrary, if the first moving wheel rotates counterclockwise, the first detector on the left side will first sense the magnetic part, thereby generating a pulse signal, that is, forming a peak or a trough.

[0132] Through the above content, by installing multiple first detectors and second detectors, the moving direction of the mobile device can be identified.

[0133] In another embodiment of the present application, the first detector includes a bipolar latch type Hall detector 4, and the second detector includes a bipolar latch type Hall detector 4;

[0134] The plurality of first detectors are all located below the first moving wheel, and the plurality of second detectors are all located below the second moving wheel.

[0135] The Hall detector 4 is used to sense the magnetic part, so that when the magnetic part passes through the Hall detector 4, a peak or a trough appears in the pulse signal generated by the Hall detector 4. Specifically, for ease of understanding, take the curtain as an example of a mobile device. Figure 5 As shown, two first detectors are provided, namely Hall 1 and Hall 2, and both first detectors are connected to the controller (i.e. Figure 3 MCU in the communication connection. The magnetic part is a magnet 11, and a plurality of magnets 11 are arranged in the order of S, N, S, N. Two Hall detectors 4 are both arranged below the first moving wheel. When the first moving wheel rotates to drive the curtain fabric to move, the plurality of magnets 11 rotate with the first moving wheel, and when they rotate to the lower half of the first moving wheel, the Hall detector 4 is triggered. Specifically, when the first moving wheel rotates clockwise, Hall 2 first senses the magnet 11 rotating to the bottom, and forms a peak or trough in the first rotation signal, and Hall 1 then senses the magnet 11 rotating to the bottom, and forms a peak or trough in the first rotation signal. It should be noted that since Hall 1 and Hall 2 can both generate the first rotation signal, that is, the controller can obtain two first rotation signals, when the controller determines the first rotation distance according to the first rotation signal, it can determine the first rotation distance with one of the first rotation signals, or it can determine the first rotation distance with two first rotation signals respectively, and calculate the average value of the two first rotation distances as the actual rotation distance of the first moving wheel, which is not specifically limited in this embodiment. The triggering method and calculation method of the second rotation signal of the second moving wheel are the same as those of the first moving wheel, and are not described in detail.

[0136] According to the above content, the use of the Hall detector 4 to sense the magnetic part is helpful to improve the accuracy of the first rotation signal and the second rotation signal.

[0137] In another embodiment of the present application, the mobile device further includes a hooking member for connecting with a target member so that the target member moves with the mobile device, wherein the target member includes an object that needs to be moved.

[0138] The mobile device is provided with a hooking member, so that the target member can be connected to the hooking member, so that when the first moving wheel rotates, the target member moves. For ease of understanding, take the curtain companion as an example of a mobile device. Figure 6 As shown, the curtain companion includes a DC motor 1 as a driving mechanism, a Hall detector 4 as a detection mechanism, a first moving wheel as a driving wheel 2, a second moving wheel as a driven wheel 3, and a hook 5 as a hooking member. The curtain fabric as a target member can be connected to the hook 5, and when the curtain companion moves, the curtain fabric on the hook 5 is driven to move.

[0139] Through the above content, the mobile device is provided with a hooking piece to facilitate connection with the target part, thereby driving the target part to move, which helps to improve the connection stability between the mobile device and the target part.

[0140] In another embodiment of the present application, the target part includes a curtain, and the hooking member is connected to a hook 7 of the curtain to drive the curtain to move when the driving mechanism is started.

[0141] like Figure 6 As shown, the curtain includes a hook 7 and a curtain cloth, and the hooking member is connected to the hook 7 of the curtain, so that after the driving mechanism is started, the first moving wheel rotates along the track 6 to drive the curtain cloth to move.

[0142] Through the above content, the hooking member is connected to the hook 7 of the curtain, which improves the connection stability between the mobile device and the curtain.

[0143] In another embodiment of the present application, the mobile device also includes a clamping mechanism, the clamping mechanism includes a clamping drive, the clamping drive is electrically connected to the controller, and the controller is used to control the clamping drive so that the clamping drive increases or decreases the interaction force between the first moving wheel and / or the second moving wheel and the track 6.

[0144] After the clamping mechanism is activated, the clamping driver is activated, so that the interaction force between the first moving wheel and the track 6 increases or decreases. When the interaction force increases, the first moving wheel and / or the second moving wheel are closer to the track 6, and when the interaction force decreases, the first moving wheel and / or the second moving wheel are away from the track 6. It should be noted that when the first moving wheel and / or the second moving wheel are away from the track 6 to the extent that there is a gap between them, the first moving wheel and / or the second moving wheel will idle and cannot move along the track 6.

[0145] The interaction force refers to the force between the moving wheel and the track 6, and can also be understood as the abutment force, pressure or friction force between the moving wheel and the track 6. Specifically, when the clamping force between the moving wheel and the track 6 increases, the moving wheel is closer to the track 6.

[0146] For ease of understanding, Figure 6 As shown, taking the curtain companion as a mobile device as an example, the curtain companion includes a stepper motor 8, a bracket 9 and a push rod 10. The stepper motor 8 is installed on the bracket 9, and the bracket 9 is connected to the push rod 10. After starting the stepper motor 8, the bracket 9 and the push rod 10 both move upward, thereby driving the first moving wheel and the second moving wheel to move upward, close to the track 6, and increasing the interaction force with the track 6.

[0147] Through the above content, by setting up a clamping mechanism, when the detection result indicates that the mobile device has a slipping abnormality, the controller can automatically control the clamping mechanism to increase the interaction force between the first moving wheel and / or the second moving wheel and the track 6, thereby solving the slipping abnormality and ensuring the normal movement of the curtain.

[0148] In another embodiment of the present application, the clamping mechanism includes a clamping bracket, a clamping push rod and a screw;

[0149] The clamping drive is connected to the screw rod, and the screw rod is rotatably arranged on the clamping bracket. The controller is used to control the clamping drive to drive the screw rod to rotate, so that when the screw rod rotates along the first rotation direction, the interaction force between the first moving wheel and / or the second moving wheel and the track 6 is increased, and when the screw rod rotates along the second rotation direction, the interaction force between the first moving wheel and / or the second moving wheel and the track 6 is reduced.

[0150] Specifically, after the clamping driver is started, the screw rod is driven by the clamping driver to rotate, thereby driving the clamping bracket to move upward or downward, thereby increasing or decreasing the interaction force.

[0151] The clamping driver refers to a device that can drive the screw to rotate, such as a motor, etc., which is not specifically limited in this embodiment. The screw refers to a rod-shaped structure with threads, one end of which is connected to the output end of the clamping driver, and the other end is threadedly connected to the threaded hole on the clamping bracket, so that when the screw rotates, the clamping bracket moves up or down, thereby increasing or reducing the interaction force between the moving wheel and the track 6.

[0152] According to the above content, the use of a screw to drive the first moving wheel and / or the second moving wheel to move upward or downward is helpful to improve the stability and accuracy of the first moving wheel and / or the second moving wheel when they move upward or downward.

[0153] The embodiment of the present application also provides a curtain system, including a curtain, a track 6 and the above-mentioned mobile device;

[0154] The curtain is connected to the mobile device, and the first moving wheel and the second moving wheel of the mobile device are slidably arranged on the track 6.

[0155] After the curtain is connected to the mobile device, when the driving mechanism of the mobile device is started, the mobile device moves along the track 6, and the curtain is driven by the mobile device and moves synchronously along the track 6, so that the curtain is opened or closed.

[0156] Through the above content, the mobile device can detect abnormal situations such as slipping in time during movement, and when abnormal situations such as slipping occur, it can solve them by itself through the clamping mechanism, thereby improving the movement stability of the curtains and the accuracy of the movement trajectory, thereby ensuring that the curtains can be fully opened or fully closed, and are not prone to light blocking or light leakage, thereby improving the user experience of the curtains.

[0157] The present application also provides an abnormality detection device for a mobile device, such as Figure 7 As shown, it includes an acquisition module 1, which is used to acquire a first rotation signal of a first moving wheel and a second rotation signal of a second moving wheel of a mobile device;

[0158] A parameter module 2, configured to determine a first rotation distance of the first moving wheel according to the first rotation signal and to determine a second rotation distance of the second moving wheel according to the second rotation signal;

[0159] The detection module 3 is used to generate a detection result indicating whether the mobile device is abnormal according to the difference between the first rotation distance and the second rotation distance.

[0160] Optionally, the parameter module 2 includes a first parameter unit, configured to determine the first rotation distance according to the number of peaks and / or troughs in the first rotation signal.

[0161] The parameter module 2 comprises a second parameter unit, which is used to determine the second rotation distance according to the number of peaks and / or troughs in the second rotation signal.

[0162] Optionally, the first parameter unit includes a first summing unit, configured to calculate the sum of the number of peaks and troughs in the first rotation signal to obtain a first total number;

[0163] A first comparison unit is used to compare the first total number with a preset first single-turn total number to obtain a first rotation number for the first moving wheel, wherein the first single-turn total number represents the sum of the number of peaks and troughs triggered when the first moving wheel rotates one turn;

[0164] A first multiplication unit, used for multiplying the first number of rotations by the circumference of the first moving wheel to obtain a first rotation distance;

[0165] The second parameter unit includes a second summing unit for calculating the sum of the number of peaks and troughs in the second rotation signal to obtain a second total number;

[0166] A second comparison unit is used to compare the second total number with a preset second single-turn total number to obtain a second rotation number for the second moving wheel, wherein the second single-turn total number represents the sum of the number of peaks and troughs triggered when the second moving wheel rotates one turn;

[0167] The second multiplication unit is used to multiply the second number of rotations by the circumference of the second moving wheel to obtain a second rotation distance.

[0168] Optionally, the device further includes a first formula module, including:

[0169] N1 / M1*2πR1;

[0170] Wherein, N1 is the first total number, M1 is the first single circle total number, and R1 is the radius of the first moving wheel;

[0171] The second formula module includes:

[0172] N2 / M2*2πR2;

[0173] Wherein, N2 is the second total number, M2 is the second single circle total number, and R2 is the radius of the second moving wheel.

[0174] Optionally, the detection module 3 includes a difference unit, which is used to calculate the difference between the first rotation distance and the second rotation distance;

[0175] The result unit is used to generate a detection result according to the matching condition between the difference value and the error range.

[0176] Optionally, the error range is set by the radius of the first moving wheel and / or the radius of the second moving wheel.

[0177] Optionally, the device further comprises an output module for outputting a control instruction to control the mobile device to increase the clamping force between the first moving wheel and / or the second moving wheel and the track 6 if the detection result is abnormal.

[0178] According to the above content, after the acquisition module 1 obtains the first rotation signal and the second rotation signal, the parameter module 2 calculates the first rotation distance of the first moving wheel and the second rotation distance of the second moving wheel through the calculation formula, and the detection module 3 generates a detection result according to the difference between the first rotation distance and the second rotation distance. This allows abnormal conditions of the mobile device to be discovered in a timely manner. And when the detection result indicates an abnormality, the clamping force between the first moving wheel and / or the second moving wheel and the track 6 is automatically increased, so that the mobile device is not easy to slip during movement, thereby improving the accuracy of the moving trajectory of the mobile device.

[0179] An embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores an abnormality detection method for a mobile device, and the processor is used to adopt the above-mentioned abnormality detection method for a mobile device when executing the abnormality detection method for a mobile device.

[0180] Specifically, Figure 8 As shown, the electronic device includes a processor 100, at least one communication bus 200, a user interface 300, at least one external communication interface 400 and a memory 500. The communication bus 200 is configured to realize connection and communication between these components. The user interface 300 may include a display screen, and the external communication interface 400 may include a standard wired interface and a wireless interface. The memory 500 stores an abnormality detection method for a mobile device. The processor 100 is used to adopt the above method when executing the abnormality detection method for a mobile device stored in the memory 500.

[0181] An embodiment of the present application also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute the above-mentioned method.

[0182] The above description of the electronic device and storage medium embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the electronic device and storage medium embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0183] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0184] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0185] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0186] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0187] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0188] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-On l yMemory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0189] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A mobile device, characterized in that: It includes a driving mechanism, a detection mechanism, a first moving wheel and a second moving wheel; The first moving wheel and the second moving wheel are used for sliding with the track, the driving mechanism is connected with the first moving wheel, and the driving mechanism is used for driving the first moving wheel to rotate so that the second moving wheel rotates following the movement of the first moving wheel; The detection mechanism is connected to the first moving wheel and the second moving wheel, and is used to generate a first rotation signal when the first moving wheel rotates, and to generate a second rotation signal when the second moving wheel rotates; The mobile device also includes a controller, which is connected to the driving mechanism and the detection structure. The controller is used to control the driving state of the driving mechanism and determine the first rotation distance and the second rotation distance respectively according to the first rotation signal and the second rotation signal generated by the detection mechanism, and generate a detection result representing whether the mobile device is slipping through the first rotation distance and the second rotation distance.

2. The mobile device according to claim 1, characterized in that The detection mechanism comprises a plurality of magnetic members arranged on the first moving wheel and the second moving wheel, wherein the plurality of magnetic members are arranged on the first moving wheel and the second moving wheel with alternating polarities; The detection mechanism further includes a first detector disposed on one side of the first moving wheel and a second detector disposed on one side of the second moving wheel; The first detector is used to detect the polarity of the magnetic member passing by when the first moving wheel rotates, and generate the first rotation signal; The second detector is used to detect the polarity of the passing magnetic member when the second moving wheel rotates, and generate the second rotation signal.

3. The mobile device according to claim 2, characterized in that There are a plurality of the first detectors, and a plurality of the second detectors; The controller is used to determine the rotation direction of the first moving wheel and / or the second moving wheel according to the sequence in which the multiple first detectors or the multiple second detectors generate signals.

4. The mobile device according to claim 3, characterized in that The first detector comprises a bipolar latch type Hall detector, and the second detector comprises a bipolar latch type Hall detector; The plurality of first detectors are all located below the first moving wheel, and the plurality of second detectors are all located below the second moving wheel.

5. The mobile device according to claim 3, characterized in that: The mobile device further comprises a hooking member for connecting with a target member so that the target member moves along with the mobile device, wherein the target member comprises an object to be moved.

6. The mobile device according to claim 5, characterized in that The target part includes a curtain, and the hooking part is connected to a hook of the curtain to drive the curtain to move when the driving mechanism is started.

7. The mobile device according to claim 1, characterized in that The controller is further configured to control the mobile device to increase the clamping force between the first moving wheel and / or the second moving wheel and the track when the detection result indicates slippage.

8. The mobile device according to claim 7, characterized in that The mobile device also includes a clamping mechanism, which includes a clamping drive, and the clamping drive is electrically connected to the controller. The controller is used to control the clamping drive so that the clamping drive increases or decreases the interaction force between the first moving wheel and / or the second moving wheel and the track.

9. The mobile device according to claim 8, characterized in that The clamping mechanism comprises a clamping bracket, a clamping push rod and a screw rod; The clamping drive is connected to the screw rod, and the screw rod is rotatably arranged on the clamping bracket. The controller is used to control the clamping drive to drive the screw rod to rotate, so that when the screw rod rotates along the first rotation direction, the interaction force between the first moving wheel and / or the second moving wheel and the track is increased, and when the screw rod rotates along the second rotation direction, the interaction force between the first moving wheel and / or the second moving wheel and the track is reduced.

10. A curtain system, characterized in that: A device comprising a curtain, a track and the mobile device according to any one of claims 1 to 9; The curtain is connected to the moving device, and a first moving wheel and a second moving wheel of the moving device are slidably arranged on the track.

11. The curtain system according to claim 10, characterized in that: It also includes a terminal, which is electrically connected to the controller and is used to send a control instruction to the controller so that the controller controls the driving mechanism to drive the curtain to move.

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