Automatic opening method and apparatus for toilet seat lid, toilet, and storage medium

Abstract

An automatic opening method and apparatus for a toilet seat lid, a toilet, and a storage medium. The automatic opening method comprises: confirming an opening angle of a toilet seat lid (S110), the opening angle comprising an included angle between the toilet seat lid and a toilet bowl surface, and the seat lid comprising a toilet lid and a toilet seat; and, on the basis of the included angle between the toilet seat lid and the toilet bowl surface, generating a rotational frequency for controlling a seat lid motor, so that the toilet seat lid is opened, according to a preset vibration frequency, to a seat lid limiting position of the toilet seat lid (S120). According to the automatic opening method for a toilet seat lid, the strength by which the seat lid collides with a seat lid limiter in the process of opening the seat lid can be reduced, and the vibration frequency of the seat lid can disrupt the shaking frequency after the seat lid collides with the seat lid limiter. Moreover, the problem of increased amplitude caused by a gap of a seat lid gear structure is compensated for, and the shaking amplitude and the shaking time of the seat lid repeatedly colliding with the seat lid limiter are reduced.

Description

Automatic opening method and device for toilet cover, toilet and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on December 29, 2023, with application number 202311856587.1, and entitled “Automatic opening method, device, toilet and storage medium for toilet cover”, all contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of daily necessities, and in particular to a method and device for automatically opening a toilet cover, a toilet, and a storage medium. Background Art

[0004] Smart toilets have been widely used and promoted in both public and home settings due to their intelligent features, cleanliness, and ease of operation. To better realize their intelligence, the functions of smart toilets are gradually being improved, and their market share is growing.

[0005] Some smart toilets on the market have automatic lid opening features. When the lid of such an automatic lid opens, it makes a noise when it hits the lid stop during opening. Furthermore, during closing, the lid vibrates due to resistance from the lid stop, shortening the lifespan of the automatic lid opening mechanism. Furthermore, the pressing and rebound forces of the lid cause a periodic vibration, impacting user experience.

[0006] It should be noted that the statements herein merely provide background information related to the present application and do not necessarily constitute prior art.

[0007] Application Contents

[0008] In view of the above problems, the present application proposes a method, device, toilet and storage medium for automatically opening a toilet cover that overcome the above problems or at least partially solve the above problems.

[0009] The embodiments of this application adopt the following technical solutions:

[0010] In a first aspect, an embodiment of the present application provides a method for automatically opening a toilet cover, the method comprising: confirming the opening angle of the toilet cover, wherein the opening angle comprises the angle between the toilet cover and the toilet bowl, and the cover comprises a toilet cover and a toilet seat; based on the angle between the toilet cover and the toilet bowl, generating a rotation frequency for controlling a cover motor so that the toilet cover opens to a cover limit position of the toilet cover according to a preset vibration frequency.

[0011] Preferably, the rotation frequency of the motor includes driving the toilet cover motor to rotate forward for a first preset time and then reverse for a second preset time, and repeating this process to obtain a preset vibration frequency of the toilet cover, wherein the first preset time is greater than the second preset time; the angle between the toilet cover and the toilet pot surface is used to control the rotation frequency of the cover motor, so that the toilet cover is opened to the cover limit position of the toilet cover according to the preset vibration frequency, including: when the angle When the angle is greater than a first preset angle, the toilet cover is controlled to flip to the cover limit position at a preset vibration frequency to compensate for the increase in the rebound amplitude caused by the structural gap between the cover gears after the toilet cover collides with the cover limit and rebounds, wherein the structural gap includes the meshing gap between the cover transmission gears; and / or, the toilet cover is controlled to vibrate at a preset frequency so that the position after each collision with the cover limit and rebounds approaches the cover limit position to destroy the vibration frequency of the toilet cover caused by repeated rebounds.

[0012] Preferably, the method further comprises: when the rotational angular velocity of the toilet seat cover is less than a preset angular velocity for a preset time period, clearing the vibration frequency of the toilet seat cover.

[0013] Preferably, the method further comprises: upon confirming that the toilet seat cover is in the cover limit position, driving the toilet seat cover motor to rotate forward for a third preset time to ensure that the toilet seat cover is stably in the cover limit position. Determining the opening angle of the toilet seat cover comprises: obtaining the opening angle of the toilet seat cover via an angle sensor.

[0014] Preferably, the method further includes: when the angle between the toilet cover and the toilet pot surface is greater than a second preset angle and less than a first preset angle, reducing the output torque of the toilet cover motor to decelerate the toilet cover to reach the first preset angle.

[0015] In a second aspect, an embodiment of the present application further provides an automatic opening device for a toilet cover, the device comprising: an angle confirmation unit for confirming the opening angle of the toilet cover, wherein the opening angle comprises the angle between the toilet cover and the toilet pot surface, and the cover comprises a toilet cover and a toilet seat; a vibration frequency application unit for generating a rotation frequency for controlling the cover motor according to the angle between the toilet cover and the toilet pot surface, so that the toilet cover opens to the cover limit position of the toilet cover according to a preset vibration frequency.

[0016] Preferably, the device further comprises a thrust applying unit, which drives the toilet cover motor to rotate forward for a third preset time after confirming that the toilet cover reaches the cover limit position, so as to ensure that the toilet cover is in the cover limit position.

[0017] In a third aspect, an embodiment of the present application further provides a toilet, comprising: an automatic opening device for a toilet cover, a processor; and a memory arranged to store computer-executable instructions, wherein the executable instructions, when executed, cause the processor to execute any of the methods described in the first aspect.

[0018] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by a toilet including multiple application programs, the toilet executes any method of the first aspect.

[0019] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0020] This application controls the rotation frequency of the cover motor to apply a push-pull positive force (forward for a period of time and then reverse for a period of time, with the forward time greater than the reverse time) to the toilet cover after the toilet cover is opened and reaches the vertical position. By using a push-pull force of a certain frequency, the resonant frequency of the toilet cover after it rebounds into place is destroyed, thereby making the toilet cover stable and without shaking after opening to the cover limit position.

[0021] The above description of the technical solution of the present application is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0023] FIG1 is a schematic flow chart of a method for automatically opening a toilet seat cover according to an embodiment of the present application;

[0024] FIG2 is a schematic diagram of the automatic opening process of the toilet seat cover in an embodiment of the present application;

[0025] FIG3 is a schematic diagram of an automatic opening device for a toilet seat cover according to an embodiment of the present application;

[0026] FIG4 is a schematic structural diagram of a toilet according to an embodiment of the present application. Specific embodiments

[0027] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0028] The idea of ​​the present application is to design a method for automatically opening a toilet cover in response to the current situation in the art whereby vibrations will occur when the toilet cover hits the cover limit during opening. This method drives the toilet cover to the cover limit position by a push-pull force of a preset frequency after the toilet cover is opened to a certain angle, thereby breaking the frequency vibrations between the cover and the cover limit. At the same time, the present application can compensate for the increase in vibration amplitude caused by the clearance of the gear structure of the toilet cover.

[0029] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0030] An embodiment of the present application provides a method for automatically opening a toilet cover, a toilet device, and a system. In the present application, the toilet cover consists of a shell and an automatic flip-up mechanism. The automatic flip-up mechanism is provided on one side of the shell, and a connecting shaft is provided on the other side; the automatic flip-up mechanism includes a gear set and a cover motor, an electromagnetic clutch, a torque balancing assembly, etc. that are sequentially connected through the gear set.

[0031] As shown in FIG1 , a flow chart of a method for automatically opening a toilet seat cover according to an embodiment of the present application is provided. The method includes at least the following steps S110 to S120:

[0032] Step S110, confirming the opening angle of the toilet cover, wherein the opening angle includes the angle between the toilet cover and the toilet bowl, and the cover includes the toilet cover and the toilet seat;

[0033] In this application, the opening angle of the toilet seat cover is acquired via an angle sensor. The boundary range of the cover opening angle includes the angle formed by the cover and the toilet bowl surface and the opening angle of the cover when it reaches the cover limit position, where the cover limit is used to limit the opening angle of the cover. The toilet seat cover in this application includes not only the toilet lid but also the toilet seat. It is understood that this application can control the opening and closing of the toilet lid alone or simultaneously.

[0034] It can be understood that in this application, due to the measurement error of the sensor and the structural error of the cover gear, it is easy to cause a certain error in obtaining the cover opening angle. Therefore, the cover opening angle in this application can be expressed by the stroke of the cover. Specifically, the stroke of the toilet cover is converted from the position angle of the toilet cover. For example, when the toilet cover is in the toilet pot position, the angle of the toilet cover obtained by the angle sensor is, for example, -5 degrees. When the toilet cover is in the flipped-up position, the angle of the toilet obtained by the angle sensor is, for example, 100 degrees. Based on this, it can be known that the stroke of this toilet cover is 110 degrees. In fact, the measurement of the cover stroke is related to the accuracy of the angle sensor and is usually expressed using AD values. The AD value is the value after converting the analog quantity into a digital quantity. A refers to the analog quantity, D refers to the digital quantity, and the AD value is the final presentation form of the data.

[0035] Step S120: generating a rotation frequency for controlling the cover motor according to the angle between the toilet cover and the toilet pot surface, so that the toilet cover opens to the cover limit position according to the preset vibration frequency.

[0036] In the present application, the rotation frequency of the motor includes driving the toilet cover motor to rotate forward for a first preset time, then reverse for a second preset time, and repeating this process to obtain a preset vibration frequency of the toilet cover, wherein the first preset time is greater than the second preset time; the angle between the toilet cover and the toilet pot surface is used to control the rotation frequency of the cover motor, so that the toilet cover is opened to the cover limit position of the toilet cover according to the preset vibration frequency, including: when the angle When the angle is greater than a first preset angle, the toilet cover is controlled to flip to the cover limit position at a preset vibration frequency to compensate for the increase in the rebound amplitude caused by the structural gap between the cover gears after the toilet cover collides with the cover limit and rebounds, wherein the structural gap includes the meshing gap between the cover transmission gears; and / or, the toilet cover is controlled to vibrate at a preset frequency so that the position after each collision with the cover limit and rebounds approaches the cover limit position to destroy the vibration frequency of the toilet cover caused by repeated rebounds.

[0037] In this application, since the rotation of the cover plate requires the output torque of the cover plate motor, the cover plate rotation is driven by the interaction of the cover plate gears. However, there is a structural gap between the gears. In this application, the push-pull force can partially compensate for the structural gap, thereby reducing the vibration amplitude of the cover plate. Specifically, when the cover plate collides and rebounds, the vibration amplitude of the cover plate increases by at least the amplitude of the gear structural gap due to the existence of the gear structural gap. If the direction of rotation of the motor cover plate gear is exactly opposite to the direction of rotation of the cover plate, then the gear structural gap at this time can be compensated.

[0038] In this application, since the intelligent toilet cover needs to overcome gravity and structural resistance during the process of opening (flipping), the flip motor requires a large torque to flip the cover up. When the cover is flipped into place, it will collide with the cover limiter. At this time, the cover rebounds, and the rebound angle is related to the force of the impact. The cover limiter is generally located at the bottom of the cover. In this case, the interaction between the cover and the cover limiter will cause the cover to vibrate significantly. On the other hand, since the toilet cover is continuously subjected to the pressing force and the rebound force of the cover limiter after it is flipped into place, the two opposing forces will also cause the cover to vibrate at a certain frequency, and the vibration amplitude will gradually decrease and finally disappear.

[0039] In this application, in order to reduce and eliminate the vibration of the toilet seat cover, the following technical treatments were performed:

[0040] The toilet seat cover is tested for travel. When the angle sensor detects that the cover has reached a preset position within the toilet's travel, such as 90% of its total travel, but has not yet reached the vertical position, the cover is decelerated. Specifically, this can be achieved by reducing the motor's output torque. Alternatively, a reverse pulling force (controlling the motor's reverse rotation and outputting reverse torque) can be applied as needed to decelerate the cover's rotation. The inertia of the cover, combined with the motor's torque, will keep the cover in place, but without accelerating. This deceleration reduces the impact force between the cover and the cover limiter.

[0041] Although the force of the collision between the cover and the cover stop can be reduced by decelerating the cover before it reaches the vertical position, due to control accuracy, it is impossible to ensure that the speed is reduced to 0 when the cover reaches the vertical position. On the other hand, due to the superposition of gravity, the cover will accelerate after it flips over 90 degrees, which will increase the impact force between the cover and the cover stop. In addition, to ensure that the toilet cover is in place, a continuous thrust is applied for a period of time to ensure that the cover reaches the cover stop position. The above situations all lead to collision between the cover and the cover stop, causing the cover to vibrate.

[0042] In this application, when it is detected that the cover is perpendicular to the toilet bowl surface (a first preset angle), a push-pull (push-pull) type positive force is applied to the cover. Specifically, the cover motor is controlled to move forward for a period of time and then reverse for a period of time, with the forward time greater than the reverse time. At this time, the flip cover flips back as a whole, but there is a pulsating pulling force. This pulsating pulling force is related to the structural gap between the motor and the cover, the length and weight of the cover, and is a coefficient that can be actually adapted and adjusted to achieve deceleration before the cover is in place and a vibration frequency that destroys the cover after it is in place, thereby making the cover flip smooth, reducing the vibration amplitude and vibration time, and improving the user's perception. Specifically, since the vibration frequency between the cover and the cover limit is low, when setting the push-pull force frequency, a higher frequency is set to ensure that the two frequencies do not resonate.

[0043] In some examples of the present application, when the angle between the toilet seat cover and the toilet bowl is greater than a second preset angle and less than a first preset angle, the output torque of the toilet seat cover motor is reduced to decelerate the toilet seat cover to the first preset angle. When the rotational angular velocity of the toilet seat cover is less than a preset angular velocity for a preset duration, the vibration frequency of the toilet seat cover is cleared. After confirming that the toilet seat cover is in the cover limit position, the toilet seat cover motor is driven to rotate forward for a third preset time to ensure that the toilet seat cover is stably in the cover limit position.

[0044] As shown in Figure 2, in this application, when a person approaches, the toilet automatically executes the cover opening process. As the cover opening angle increases, the output torque of the cover motor also changes accordingly to prevent excessive opening force, which would cause the cover to hit the cover stop with excessive force. When it is detected that the toilet cover has exceeded a preset value, such as 90% (the flip stroke and flip angle can be converted to each other, and the position where the flip stroke is 90% is the second preset angle in this application), the cover has not yet reached the vertical position (the first preset angle). At this time, deceleration can effectively reduce the rotation speed of the cover. After passing the vertical position, the presence of gravity on the cover will cause the cover to rotate faster. Due to the accuracy of the motor control, it is difficult to achieve a situation where the cover opens to the cover stop at a speed of zero. Normally, it will rebound after reaching the cover stop. In addition, if the cover does not contact the cover stop, the subsequent thrust applied to ensure that the cover is in place will also cause the cover to collide with the cover stop, causing rebound. In the present application, a push-pull force with a relatively high preset frequency can destroy the resonance between the rebound force and the thrust, thereby reducing the amplitude and duration of the vibration.

[0045] Specifically, when the cover plate reaches the position of 90° on the pot surface, the motor torque and speed are controlled so that the cover plate is subjected to a thrust, for example, 10ms, and then the motor is controlled so that the cover plate is subjected to a pulling force, for example, 5ms, and this is performed alternately so that the cover plate receives a push-pull force of a fixed frequency and slowly approaches the cover plate limit. The preset fixed frequency of the cover plate (the vibration frequency of the cover plate) is basically not observable to the naked eye. This self-contained trembling frequency can be the vibration frequency after the cover plate is destroyed and collides with the cover plate limit. In the specific implementation, since the cover plate will be affected by gravity after reaching the position of 90° on the pot surface, this application needs to comprehensively consider the mass of the cover plate and the influence of gravity to obtain a suitable coefficient to reduce or even eliminate the vibration of the cover plate.

[0046] The method of confirming that the cover is in place in this application is not to use an in-place sensor, but to confirm it based on the angular velocity of the cover's rotation. Specifically, an angle sensor is used, and the angle sensor uses AD values ​​to represent the angle collection. For example, if the movement angle of the cover is less than 3AD within 100ms, it means that the cover has stopped moving. If this state lasts for 1 second, it is confirmed that the cover is flipped into place.

[0047] In this application, for fault tolerance, after confirming that the cover is in place, a preset push force will be applied to ensure that some abnormal conditions in the cover flipping process, such as sensor detection abnormality, motor operation abnormality, etc. Specifically, a 2-second push force is applied to ensure the normal flipping of the cover.

[0048] The present application also provides an automatic opening device 300 for a toilet seat cover. FIG3 shows a schematic diagram of the automatic opening structure of a toilet seat cover in the present application. The device 300 includes at least an angle confirmation unit 310 and a vibration frequency application unit 320.

[0049] In one embodiment of the present application, the angle confirmation unit 310 is specifically used to: confirm the opening angle of the toilet cover, wherein the opening angle includes the angle between the toilet cover and the toilet pan, and the cover includes the toilet cover and the toilet seat;

[0050] In this application, the opening angle of the toilet cover is obtained by an angle sensor. The boundary range of the cover opening angle includes the angle formed by the cover and the toilet bowl surface and the opening angle of the cover when it reaches the cover limit position, where the cover limit is used to limit the opening angle of the cover.

[0051] It can be understood that in this application, due to the measurement error of the sensor and the structural error of the cover gear, it is easy to cause a certain error in obtaining the cover opening angle. Therefore, the cover opening angle in this application can be represented by the stroke of the cover. Specifically, the stroke of the toilet cover is converted from the position angle of the toilet cover. For example, when the toilet cover is at the toilet pot position, the angle of the toilet cover obtained by the angle sensor is, for example, -5 degrees. When the toilet cover is in the flipped-up position, the angle of the toilet obtained by the angle sensor is, for example, 100 degrees. Based on this, it can be known that the stroke of this toilet cover is 110 degrees. In fact, the measurement of the cover stroke is related to the accuracy of the angle sensor and is usually represented by AD value.

[0052] In one embodiment of the present application, the vibration frequency applying unit 320 is specifically configured to: generate a rotation frequency for controlling the cover motor according to the angle between the toilet cover and the toilet bowl surface, so that the toilet cover is opened to the cover limit position of the toilet cover according to a preset vibration frequency;

[0053] In the present application, the rotation frequency of the motor includes driving the toilet cover motor to rotate forward for a first preset time, then reverse for a second preset time, and repeating this process to obtain a preset vibration frequency of the toilet cover, wherein the first preset time is greater than the second preset time; the angle between the toilet cover and the toilet pot surface is used to control the rotation frequency of the cover motor, so that the toilet cover is opened to the cover limit position of the toilet cover according to the preset vibration frequency, including: when the angle When the angle is greater than a first preset angle, the toilet cover is controlled to flip to the cover limit position at a preset vibration frequency to compensate for the increase in the rebound amplitude caused by the structural gap between the cover gears after the toilet cover collides with the cover limit and rebounds, wherein the structural gap includes the meshing gap between the cover transmission gears; and / or, the toilet cover is controlled to vibrate at a preset frequency so that the position after each collision with the cover limit and rebounds approaches the cover limit position to destroy the vibration frequency of the toilet cover caused by repeated rebounds.

[0054] It can be understood that the above-mentioned automatic opening device of the toilet cover can implement the various steps of the automatic opening method of the toilet cover provided in the aforementioned embodiment. The relevant explanations about the automatic opening method of the toilet cover are applicable to the automatic opening device of the toilet cover and will not be repeated here.

[0055] Figure 4 is a schematic diagram of the structure of a toilet according to an embodiment of the present application. Referring to Figure 4 , at the hardware level, the toilet includes a processor and, optionally, an internal bus, a network interface, and memory. The memory may include internal memory, such as high-speed random-access memory (RAM), and may also include non-volatile memory, such as at least one disk drive. Of course, the toilet may also include other hardware required for its operations.

[0056] The processor, network interface, and memory can be interconnected via an internal bus, such as an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. These buses can be classified as address buses, data buses, and control buses. For ease of illustration, FIG4 shows only one bidirectional arrow, but this does not imply that there is only one bus or only one type of bus.

[0057] The memory is used to store programs. Specifically, the program may include program code, which includes computer operating instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0058] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs it, forming an automatic opening device for the toilet seat cover at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0059] Confirm the opening angle of the toilet cover, wherein the opening angle includes the angle between the toilet cover and the toilet pot surface, and the cover includes a toilet cover and a toilet seat; based on the angle between the toilet cover and the toilet pot surface, generate a rotation frequency for controlling the cover motor so that the toilet cover opens to the cover limit position of the toilet cover according to a preset vibration frequency.

[0060] The method performed by the automatic toilet seat cover opening device disclosed in the embodiment shown in FIG1 of the present application can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the method can be completed by hardware integrated logic circuits in the processor or by software instructions. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0061] The toilet can also execute the method executed by the automatic opening device of the toilet cover in Figure 1, and realize the function of the automatic opening device of the toilet cover in the embodiment shown in Figure 1, and the embodiment of this application will not be repeated here.

[0062] The present application also provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions. When executed by a toilet including multiple application programs, the instructions enable the toilet to execute the method executed by the automatic opening device for the toilet cover in the embodiment shown in FIG. 1 , and are specifically configured to execute:

[0063] Confirm the opening angle of the toilet cover, wherein the opening angle includes the angle between the toilet cover and the toilet pot surface, and the cover includes a toilet cover and a toilet seat; based on the angle between the toilet cover and the toilet pot surface, generate a rotation frequency for controlling the cover motor so that the toilet cover opens to the cover limit position of the toilet cover according to a preset vibration frequency.

[0064] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0065] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0066] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0067] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0068] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0069] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0070] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0071] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, commodity, or apparatus that includes the element.

[0072] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An automatic opening method for a toilet seat cover, characterized in that, The method includes: Confirming the opening angle of the toilet cover plate, where the opening angle includes the included angle between the toilet cover plate and the toilet bowl surface, and the cover plate includes a toilet seat cover and a toilet seat ring; Generating a rotation frequency for controlling the cover plate motor according to the included angle between the toilet cover plate and the toilet bowl surface, so that the toilet cover plate is opened to the cover plate limit position of the toilet cover plate at a preset vibration frequency.

2. The method according to claim 1, wherein The rotation frequency of the motor includes driving the toilet cover plate motor to rotate forward for a first preset time, then rotating backward for a second preset time, and repeating this process to obtain the preset vibration frequency of the toilet cover plate, where the first preset time is greater than the second preset time; The generating a rotation frequency for controlling the cover plate motor according to the included angle between the toilet cover plate and the toilet bowl surface, so that the toilet cover plate is opened to the cover plate limit position of the toilet cover plate at a preset vibration frequency includes: When the included angle is greater than a first preset angle, controlling the toilet cover plate to flip to the cover plate limit position at a preset vibration frequency to compensate for the increase in the rebound amplitude caused by the structural gap between the cover plate gears after the toilet cover plate collides with the cover plate limit and rebounds, where the structural gap includes the meshing gap between the cover plate transmission gears; And / or controlling the toilet cover plate to approach the cover plate limit position at a preset vibration frequency at the position after each collision with the cover plate limit and rebound to destroy the vibration frequency generated by the repeated rebound of the toilet cover plate.

3. The method according to claim 2, wherein The method further includes: When the rotational angular velocity of the toilet cover plate is less than a preset angular velocity for a preset duration, clearing the vibration frequency of the toilet cover plate.

4. The method according to claim 2, wherein The method further includes: When it is confirmed that the toilet cover plate is in the cover plate limit position, driving the toilet cover plate motor to rotate forward for a third preset time to ensure that the toilet cover plate is stably in the cover plate limit position.

5. The method according to claim 1, wherein The confirming the opening angle of the toilet cover plate includes: Obtaining the opening angle of the toilet cover plate through an angle sensor.

6. The method according to claim 1, wherein The method further includes: When the included angle between the toilet cover plate and the toilet bowl surface is greater than a second preset angle and less than the first preset angle, reducing the output torque of the toilet cover plate motor so that the toilet cover plate decelerates to reach the first preset angle.

7. An automatic opening device for a toilet seat cover, characterized in that, The device includes: An angle confirmation unit for confirming the opening angle of the toilet cover plate, where the opening angle includes the included angle between the toilet cover plate and the toilet bowl surface, and the cover plate includes a toilet seat cover and a toilet seat ring; A vibration frequency application unit for generating a rotation frequency for controlling the cover plate motor according to the included angle between the toilet cover plate and the toilet bowl surface, so that the toilet cover plate is opened to the cover plate limit position of the toilet cover plate at a preset vibration frequency.

8. The device according to claim 7, wherein The device further includes, A thrust application unit for driving the toilet cover plate motor to rotate forward for a third preset time when it is confirmed that the toilet cover plate reaches the cover plate limit position to ensure that the toilet cover plate is in the cover plate limit position.

9. A toilet bowl, comprising: An automatic opening device and a processor for the toilet cover plate; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the method according to any one of claims 1 to 6.

10. A computer-readable storage medium storing one or more programs that, when executed by a toilet bowl including a plurality of applications, cause the toilet bowl to perform the method according to any one of claims 1 to 6.

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