CN108227589A - Motion structure occlusion detection device, method and the household electrical appliance of household electrical appliance - Google Patents
Motion structure occlusion detection device, method and the household electrical appliance of household electrical appliance Download PDFInfo
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- CN108227589A CN108227589A CN201810114991.4A CN201810114991A CN108227589A CN 108227589 A CN108227589 A CN 108227589A CN 201810114991 A CN201810114991 A CN 201810114991A CN 108227589 A CN108227589 A CN 108227589A
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- electrical appliance
- circuit unit
- household electrical
- motion structure
- permanent magnet
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a kind of motion structure occlusion detection devices of household electrical appliance, method and household electrical appliance, the motion structure occlusion detection device of the household electrical appliance includes power supply circuits unit, MCU, control circuit unit, permanent magnet, permanent magnet mounting part, sensing circuit installing component, and at least one sensing circuit unit, sensing circuit unit is fixedly connected with sensing circuit installing component, permanent magnet is fixedly connected with permanent magnet mounting part, power supply circuits unit respectively with sensing circuit unit, MCU and the connection of the power input of control circuit unit, sensing circuit unit is also electrically connected with MCU, MCU is also electrically connected through control circuit unit with controlled household electrical appliance.Present invention decreases cost, and the accuracy of the occlusion detection invention also improves the motion structure to being controlled household electrical appliance.
Description
Technical field
The present invention relates to the motion structure occlusion detection device of household appliance technical field more particularly to a kind of household electrical appliance, sides
Method and household electrical appliance.
Background technology
With the promotion of Household electric appliance intelligent degree, the household electrical appliance of micro computer control increasingly become the development of mainstream
Direction, most of household electrical appliance are directed to many motion structures, these motion structures are generally by electric rotating machine or linear electricity
The motion drives such as machine drive, when the motion structure of household electrical appliance is hindered because movement occur in the reasons such as dust accumulation, foreign matter or insufficient lubrication
When stagnant, a variety of consequences such as drive corruption, foreign matter damage or the damage of driver driving circuit are often brought, so as to give use
It causes economic loss or even brings personal injury in family.
The motion structure occlusion detection device of existing household electrical appliance is typically to be detected by following three kinds of detection methods
Whether the motion structure of household electrical appliance has occurred operation retardance：(1) retardance of motion structure is judged by multiple spot position detection
Position, the detection method are to obtain the position of moving component in motion structure by the combination of grating or magnetic grid and respective sensor
Confidence number or the position letter that the moving component is obtained by a series of mechanical limit switches arranged along the direction of motion etc.
Number, judge whether the movement of motion structure is obstructed by the changing rule of position signal.The detection method has a defect that：
The cost of grating or magnetic grid and respective sensor increases with the nearly exponential law of accuracy of detection, and sensor and grating, magnetic grid it
Between spacing need in strict accordance with setting is required just to can guarantee corresponding accuracy of detection, and grating device therein does not bear dirty also
The characteristics of dirty, use condition is more harsh, and security application is difficult to realize under domestic environment.
(2) blocking site of motion structure is judged by distance measuring method, which is by ultrasonic wave, shortwave
The position signal combined to obtain moving component in motion structure of radar or laser and respective sensor, passes through position signal
Changing rule judges whether the movement of motion structure is obstructed.The detection method has a defect that：Cost is higher, and all exists
One size and the relevant most short detecting distance of cost level, i.e., can only could when distance is not less than the most short detecting distance
Using often size is smaller for household electrical appliance, it is difficult to meet the minimum range condition.
(3) judge whether the movement of motion structure is obstructed by the variation of the driving system loads of household electrical appliance, the inspection
Survey method is the signals such as loading moment and changed power by measuring the drive system of household electrical appliance to judge household electrical appliance
Whether the movement of motion structure is obstructed.The detection method has a defect that：The signals such as loading moment and changed power usually have
There is response lag, and easily interfered by mains ripple and other circuit parameter fluctuations, so as to cause the drive of household electrical appliance
The load variation of dynamic system is poor with the motion state correlation of the motion structure of household electrical appliance, and because of the lag and error of signal
Larger, the accuracy for leading to the detection method is very low.
Invention content
It is a primary object of the present invention to provide a kind of motion structure occlusion detection device of household electrical appliance, it is intended to reduce into
Sheet and raising detection accuracy.
To achieve these goals, the present invention provides a kind of motion structure occlusion detection device of household electrical appliance, the family
The motion structure occlusion detection device of electrical appliance includes power supply circuits unit, MCU, control circuit unit, permanent magnet, permanent magnet peace
Fill component, sensing circuit installing component and at least one sensing circuit unit；Wherein,
The power supply circuits unit, for providing power supply electricity for the motion structure occlusion detection device of the household electrical appliance
Pressure；
The sensing circuit unit, for obtaining the letter of the relative distance between the permanent magnet and the sensing circuit unit
Number and the relative distance signal is converted into the identifiable electric signals of the MCU；
The permanent magnet, for providing magnetic field for the permanent magnet mounting part, so that the permanent magnet mounting part is transported
The sensing circuit unit is made to generate corresponding electric signal extremely when moving close to the pre-determined distance position of the sensing circuit unit
The MCU；
The MCU, for monitoring the operating status of motion structure in controlled household electrical appliance according to the electric signal, and when prison
When measuring the motion structure generation operation retardance, the operation work of the motion structure is controlled via the control circuit unit
Make；
The sensing circuit unit is fixedly connected with the sensing circuit installing component, the permanent magnet and the permanent magnet
Installing component is fixedly connected, the power supply circuits unit respectively with the sensing circuit unit, the MCU and the control circuit
The power input connection of unit, the sensing circuit unit are also electrically connected with the MCU, and the MCU is also through the control electricity
Road unit is electrically connected with the controlled household electrical appliance.
Preferably, non-moving parts of the sensing circuit installing component for the controlled household electrical appliance, the permanent magnet
Installing component is the moving component in the motion structure of the controlled household electrical appliance.
Preferably, the sensing circuit unit includes Magnetic Sensor and the telecommunications for the Magnetic Sensor to be exported
The filter circuit unit being filtered, the Magnetic Sensor are connect through the filter circuit unit with the MCU.
Preferably, the Magnetic Sensor is Hall effect magnetic sensor device or magneto-resistance effect magnetic sensor device.
Preferably, the motion structure occlusion detection device of the household electrical appliance is further included for the MCU and controlled household
The I/O circuit units of signal interaction between electric appliance, the I/O circuit units respectively with the MCU and the controlled household electrical appliance
Connection.
Preferably, the motion structure occlusion detection device of the household electrical appliance is further included for the fortune to the household electrical appliance
The gas gauge circuit unit that the electric energy of dynamic structure blocks detection device is managed, the gas gauge circuit unit with it is described
MCU connections.
Preferably, the motion structure occlusion detection device of the household electrical appliance further includes to show the controlled household electric
The display circuit unit of the operating status of the motion structure of device, the display circuit unit are connect with the MCU.
In addition, to achieve the above object, the present invention also provides a kind of motion structure occlusion detection method of household electrical appliance, institutes
The motion structure occlusion detection method for stating household electrical appliance includes the following steps：
S10 when the permanent magnet in the motion structure of controlled household electrical appliance does linear movement to sensing circuit unit, is obtained
The output signal of sensing circuit unit；
S20, when the output signal of the sensing circuit unit reaches preset signals threshold value, every preset time period according to
Preset computation rule calculates the change rate signal of the output signal of the primary sensing circuit unit；
S30, judges whether the wayside signaling change rate of the sensing circuit unit is less than preset wayside signaling change rate
Dividing value is got over down；
S40 crosses the border when the wayside signaling change rate of the sensing circuit unit is less than under preset wayside signaling change rate
During value, judge that more zone phenomenon has occurred down in the wayside signaling change rate, and carries out timing to the lower more zone phenomenon；
S50 when the duration of the lower more zone phenomenon is more than preset duration, judges the motion structure of controlled household electrical appliance
Retardance situation has occurred, and exports motion structure and be obstructed hysteresis signal to control circuit unit in operation, so that the control circuit list
Member controls the operation work of the motion structure.
Preferably, the step S50 includes：
S51 when the duration of the lower more zone phenomenon is more than preset duration, judges the motion structure of controlled household electrical appliance
Retardance situation has occurred in operation, and exports motion structure and be obstructed hysteresis signal to control circuit unit；
S52, when the control circuit unit receive the motion structure be obstructed hysteresis signal when, the control circuit unit
Control the permanent magnet in the motion structure according to preset kinematic parameter along opposite with current first direction of motion the
Two directions of motion move；
S53 after the permanent magnet moves the first pre-determined distance along second direction of motion, controls the permanent magnet again
It is secondary to continue to move along first direction of motion.
In addition, to achieve the above object, the present invention also provides a kind of household electrical appliance, the household electrical appliance include as described above
Household electrical appliance motion structure occlusion detection device.
The present invention provides a kind of motion structure occlusion detection device of household electrical appliance, the motion structure retardance of the household electrical appliance
Detection device includes power supply circuits unit, MCU, control circuit unit, permanent magnet, permanent magnet mounting part, sensing circuit installation
Component and at least one sensing circuit unit；The power supply circuits unit, for being hindered for the motion structure of the household electrical appliance
Stagnant detection device provides supply voltage；The sensing circuit unit, for obtaining the permanent magnet and the sensing circuit unit
Between relative distance signal and the relative distance signal is converted into the identifiable electric signals of the MCU；The permanent magnet,
For providing magnetic field for the permanent magnet mounting part, so that the permanent magnet mounting part is moved to close to the sensing circuit
The sensing circuit unit is made to generate corresponding electric signal to the MCU during pre-determined distance position of unit；The MCU, is used for
The operating status of motion structure in controlled household electrical appliance is monitored according to the electric signal, and works as and monitors that the motion structure occurs
During operation retardance, the operation work of the motion structure is controlled via the control circuit unit；The sensing circuit unit with
The sensing circuit installing component is fixedly connected, and the permanent magnet is fixedly connected with the permanent magnet mounting part, the power supply
Power input of the circuit unit respectively with the sensing circuit unit, the MCU and the control circuit unit is connect, described
Sensing circuit unit is also electrically connected with the MCU, and the MCU is also through the control circuit unit and the controlled household electrical appliance electricity
Connection.The motion structure occlusion detection device of present inventor's electrical appliance has the advantages that at low cost and detection accuracy is high.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Structure according to these attached drawings obtains other attached drawings.
Fig. 1 is the high-level schematic functional block diagram of one embodiment of motion structure occlusion detection device of present inventor's electrical appliance；
Fig. 2 is the high-level schematic functional block diagram of another embodiment of motion structure occlusion detection device of present inventor's electrical appliance；
Fig. 3 is permanent magnet mounting part described in one embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Do the motion structure of the sensing circuit unit, sensing circuit installing component, permanent magnet, permanent magnet mounting part during linear movement
Schematic diagram；
Fig. 4 is permanent magnet mounting portion described in another embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Part does the movement knot of the sensing circuit unit, sensing circuit installing component, permanent magnet, permanent magnet mounting part during circular motion
Structure schematic diagram；
Fig. 5 is permanent magnet mounting part described in one embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Do during linear movement the output signal Sout of the sensing circuit unit and the sensing circuit unit to the permanent magnet away from
From the relation curve schematic diagram between x；
Fig. 6 is permanent magnet mounting part described in one embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Do the wayside signaling change rate Sv of the output signal Sout of the sensing circuit unit and the sensing circuit list during linear movement
Member is to the relation curve schematic diagram between the distance x of the permanent magnet；
Fig. 7 be present inventor's electrical appliance one embodiment of motion structure occlusion detection device be applied to household electrical appliance when be
System high-level schematic functional block diagram；
Fig. 8 is the flow diagram of the motion structure occlusion detection method first embodiment of present inventor's electrical appliance；
Fig. 9 is the flow diagram of the motion structure occlusion detection method second embodiment of present inventor's electrical appliance.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of motion structure occlusion detection device of household electrical appliance, for solving the fortune of existing household electrical appliance
Move the technical issues of structure blocks detection device is of high cost and detection accuracy is low.
Fig. 1 is the high-level schematic functional block diagram of one embodiment of motion structure occlusion detection device of present inventor's electrical appliance, ginseng
According to Fig. 1, in one embodiment, the motion structure occlusion detection device of the household electrical appliance includes sensing circuit unit 101, sensing electricity
Road installing component 102, permanent magnet mounting part 103, permanent magnet 104, MCU 105, control circuit unit 106 and power supply circuit
Unit 107.
Wherein, the power supply circuits unit 107, for the motion structure occlusion detection device for the present embodiment household electrical appliance
Supply voltage is provided；
The sensing circuit unit 101, for obtaining between the permanent magnet 104 and the sensing circuit unit 101
The relative distance signal is simultaneously converted to the 105 identifiable electric signals of MCU by relative distance signal；
The permanent magnet 104, for providing magnetic field for the permanent magnet mounting part 103, so that the permanent magnet is installed
Component 103 generates the sensing circuit unit 101 when moving to close to the pre-determined distance position of the sensing circuit unit 101
Corresponding electric signal is to the MCU 105；
The MCU 105, for the controlled household electric of electric signal monitoring exported according to the sensing circuit unit 101
The operating status of the motion structure of device (not shown), and when operation resistance occurs for the motion structure for monitoring the controlled household electrical appliance
When stagnant, the operation work of the motion structure of the controlled household electrical appliance is controlled via the control circuit unit 106.
In the present embodiment, the sensing circuit unit 101 is fixedly connected with the sensing circuit installing component 102, described
Permanent magnet 104 is fixedly connected with the permanent magnet mounting part 103, and the power supply circuits unit 107 is electric with the sensing respectively
The power input connection of road unit 101, the MCU 105 and the control circuit unit 106, the sensing circuit unit
101 are also electrically connected with the MCU 105, and the MCU 105 is also through the control circuit unit 106 and the controlled household electrical appliance
Electrical connection.
In the present embodiment, non-moving parts of the sensing circuit installing component 102 for the controlled household electrical appliance, example
Such as, the fixed frame of the controlled household electrical appliance is selected as the sensing circuit installing component 102.It is described in the present embodiment
Permanent magnet mounting part 103 is the moving component in the motion structure of the controlled household electrical appliance, for example, the relatively described quilt of selection
The moving component of the frame movement of household electrical appliance is controlled as the permanent magnet mounting part 103.
In the present embodiment, the sensing circuit unit 101 includes Magnetic Sensor (not shown) and for the magnetic to be sensed
The filter circuit unit (not shown) that the telecommunications of device output is filtered, the Magnetic Sensor is through the filter circuit
Unit is connect with the MCU 105.
In the present embodiment, the Magnetic Sensor is Hall effect magnetic sensor device or magneto-resistance effect magnetic sensor device.
In the present embodiment, the permanent magnet 104 is for permanent-magnet material or with other to magnetic field or magnetic line of force Constrained or reinforcing
Etc. the components of functions be composed.
It is understood that in the present embodiment, the MCU 105 can borrow the existing MCU of other equipment, can also be
The motion structure occlusion detection dress of the present embodiment household electrical appliance centers an independent MCU.Also, in the present embodiment, institute
Stating the quantity of sensing circuit unit 101 can be configured according to actual conditions situation, for example, a sensing circuit can be set
Unit 101, can also set multiple sensing circuit units 101, and the present embodiment is only provided with a sensing circuit unit 101.
Further, with reference to Fig. 2, the motion structure occlusion detection device of the present embodiment household electrical appliance is in above-described embodiment
On the basis of further include for the I/O circuit units 108 of signal interaction between the MCU 105 and controlled household electrical appliance, the I/O
Circuit unit 108 is connect respectively with the MCU 105 and the controlled household electrical appliance.
Further, the motion structure occlusion detection device of the present embodiment household electrical appliance is further included for the present embodiment man
The gas gauge circuit unit 109 that the electric energy of the motion structure occlusion detection device of electrical appliance is managed, the energy management
Circuit unit 109 is connect with the MCU 105.
Further, the motion structure occlusion detection device of the present embodiment household electrical appliance is further included for the controlled family
The display circuit unit 110 that the operating status of the motion structure of electrical appliance is shown, the display circuit unit 110 with it is described
MCU 105 is connected.
Fig. 3 is permanent magnet mounting part described in one embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Do the motion structure of the sensing circuit unit, sensing circuit installing component, permanent magnet, permanent magnet mounting part during linear movement
Schematic diagram, with reference to Fig. 3, the present embodiment is using the direction of linear motion of the permanent magnet mounting part 103 as x directions, and x0 is in figure
The position coordinates of the sensing circuit unit 101, x1 are the motion structure of controlled household electrical appliance described in a certain motion process
The position coordinates of permanent magnet 104, x2 are the maximum value of the position coordinates of the permanent magnet 104, and L1 is the fortune of controlled household electrical appliance
The spacing (i.e. L1=x1-x0) of dynamic structure permanent magnet 104 described in a certain motion process and the sensing circuit unit 101,
L2 is the position coordinates of the permanent magnet 104 permanent magnet 104 corresponding when being maximum value and sensing circuit unit 101
Spacing (i.e. L2=x2-x0).
Fig. 4 is permanent magnet mounting portion described in another embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Part does the movement knot of the sensing circuit unit, sensing circuit installing component, permanent magnet, permanent magnet mounting part during circular motion
Structure schematic diagram, with reference to Fig. 4, A is the angle value of the sensing circuit unit 101 in figure, and B is the motion structure of controlled household electrical appliance
For the permanent magnet 104 described in a certain motion process relative to the angle value of the sensing circuit unit 101, C is the permanent magnet
104 relative to the sensing circuit unit 101 maximal angle value, L1 is the motion structure of controlled household electrical appliance in a certain movement
The spacing of the permanent magnet 104 and the sensing circuit unit 101 in the process, L2 are the permanent magnet 104 relative to the biography
The spacing of the angle value of inductive circuit unit 101 permanent magnet 104 corresponding when being maximum value and sensing circuit unit 101.
Fig. 5 is permanent magnet mounting part described in one embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Do during linear movement the output signal Sout of the sensing circuit unit and the sensing circuit unit to the permanent magnet away from
From the relation curve schematic diagram between x, with reference to Fig. 5, S0 is moved to for the permanent magnet mounting part 103 closest to described in figure
The sensing circuit unit 101 during sensing circuit unit 101 (namely institute's permanent magnet 104 is moved to closest to the sensing circuit
Unit 101) when output signal, it should be noted that the x0 in the present embodiment represent the permanent magnet 104 move to it is closest
Position during the sensing circuit unit 101.In the present embodiment, S1 is the permanent magnet 104 when to move to coordinate position be x1
The output signal of the sensing circuit unit 101, St are that the permanent magnet 104 moves to sensing electricity when coordinate position is xt
The output signal of road unit 101, S2 are that the permanent magnet 104 moves to the sensing circuit unit 101 when coordinate position is x2
Output signal, in the present embodiment, it is assumed that x3 is the permanent magnet of 101 effective output signal of sensing circuit unit
The maximum value of 104 position coordinates, S3 is the coordinate position of the permanent magnet 104 sensing circuit unit 101 when being x3
Output signal.In the present embodiment, it is assumed that x4 be the sensing circuit unit 101 have can detecting signal the permanent magnet 104
The maximum value of position coordinates, S4 are that the permanent magnet 104 moves to the defeated of the sensing circuit unit 101 when coordinate position is x4
Go out signal.
Fig. 6 is permanent magnet mounting part described in one embodiment of motion structure occlusion detection device of present inventor's electrical appliance
Do the wayside signaling change rate Sv of the output signal Sout of the sensing circuit unit and the sensing circuit list during linear movement
Member is to the relation curve schematic diagram between the distance x of the permanent magnet, with reference to Fig. 6, present embodiment assumes that 104 phase of the permanent magnet
It moves with uniform velocity to the sensing circuit unit 101, D does linear movement (namely institute for the permanent magnet mounting part 103 in figure
State permanent magnet 104 movement be linear movement) when the sensing circuit unit 101 output signal Sout wayside signaling variation
To the relation curve between the distance x of the permanent magnet 104, Sv1 is the permanent magnet for rate Sv and the sensing circuit unit 101
104 pass through x3And x2The wayside signaling change rate that Shi Suoshu sensing circuits unit 101 exports, Sv2 change for preset wayside signaling
Dividing value is got under rate, Δ Svdn is the difference of the valley value of the Sv1 and curve D, and Δ Svup is the wave crest of the Sv1 and curve D
The difference of value.
Together with reference to Fig. 5 and Fig. 6, in the present embodiment, x0-x3 sections are the near-linear area of curve D, and x3-x4 is curve D's
Curve D enters dead space after decay area, x4.In the present embodiment, in order to improve 101 output signal of sensing circuit unit
Reliability, the present embodiment select maximum values of the coordinate position x2 for the position coordinates of the permanent magnet 104, and x2 is between x1 and x3
Some suitable be worth.In the present embodiment, the spacing range of x3 and x2 is 0mm-20mm, it is preferable that the spacing of x3 and x2 is
10mm。
Fig. 7 be present inventor's electrical appliance one embodiment of motion structure occlusion detection device be applied to household electrical appliance when be
It unites high-level schematic functional block diagram, together with reference to Fig. 2 and Fig. 7, in the motion structure occlusion detection device 100 of the present embodiment household electrical appliance
I/O circuit units 108 connect with the I/O units 201 in controlled household electrical appliance 200.In the present embodiment, when the household electrical appliance
Motion structure occlusion detection device 100 detect controlled household electrical appliance 200 motion structure (not shown) occur retardance situation
When (when operation retardance occurs for the motion structures of the controlled household electrical appliance 200), the motion structure retardance of the household electrical appliance
Detection device 100 sends out motion structure and is obstructed hysteresis signal, and the signal is via the I/O circuit units 108 and the controlled household
I/O units 201 in electric appliance 200 are transmitted to the control unit 202 of the controlled household electrical appliance 200, when described control unit 202
Receive above-mentioned motion structure be obstructed hysteresis signal when, described control unit 202 controls the electricity in the controlled household electrical appliance 200
The relevant work of the function devices such as machine, light, display, relay.
Together with reference to Fig. 1, Fig. 3, Fig. 5, Fig. 6 and Fig. 7, below with the relatively described sensing circuit unit of the permanent magnet 104
101 do and describe the operation principle of the motion structure occlusion detection device of the present embodiment household electrical appliance for linear uniform motion,
Its operation principle is described in detail below：In the present embodiment, it is assumed that the permanent magnet 104 comes at the uniform velocity when moving to x2 positions
Motion state, therefore must assure that between the two in the structure for designing the sensing circuit unit 101 and the permanent magnet 104
Spacing be requirement that the relative velocity met during L2 (during linear movement, x2=L2) between the two is uniform motion, institute
Certain limitation must satisfy with the movement starting distance Lstart of the two, specifically, in the present embodiment, the movement starting of the two
Distance Lstart >=L2+Lts, wherein, L2 is the permanent magnet 104 when to be located at position coordinates be maximum value x2, the permanent magnet
104 with the spacing of the sensing circuit unit 101, Lts be the permanent magnet 104 relative to the sensing circuit unit 101
Required distance when movement velocity changes to more constant.In the present embodiment, the permanent magnet 104 and the sensing circuit list
The value range of the spacing L2 of member 101 for 10mm-60mm, the permanent magnet 104 relative to the sensing circuit unit 101 fortune
Dynamic velocity variations to it is more constant when required distance Lts then need according to the motor and transmission system for being controlled household electrical appliance
Gap LgAnd return difference LrgEtc. the actual measured values of parameters calculate, specifically, Lts=Lg+Lrg+Ls, wherein, LsJoin for redundancy
It counts, in the present embodiment, the nuisance parameter LsValue range be 0mm-6mm.
The motion structure occlusion detection device of the present embodiment household electrical appliance, when the permanent magnet 104 is to the sensing circuit
When unit 101 does linear movement, when the output signal Sout of the sensing circuit unit 101 reaches preset signals threshold value S3, institute
It states MCU 105 and starts timing, and record S3 values and the position coordinates x3 values of the permanent magnet 104 corresponding at this time, when described
The output signal Sout of sensing circuit unit 101 judges that 104 unsuccessful movement of permanent magnet arrives when reaching preset signals threshold value S2
Up at position coordinates x2, and calculate the permanent magnet 104 and move to the x2 required time differences as Δ t from x33-2, wayside signaling become
Change amount Δ S3-2(ΔS3-2=S2-S3) and wayside signaling change rate Sv1 (Sv1=Δs S3-2/Δt3-2), the MCU at this time
105 judgements detect permanent magnet 104.
It is understood that when the output signal Sout of the sensing circuit unit 101 reaches preset signals threshold value S3,
The components such as the timer entrained by 105 inside of MCU may be used and carry out timing, furthermore, it is desirable to which explanation, described in order to ensure
Wayside signaling changing value Δ S3-2Validity, the present embodiment must assure that 104 unsuccessful movement of permanent magnet reach x3 at when
The requirement that relative velocity is uniform motion is met.
The MCU 105 in the present embodiment is after the wayside signaling change rate Sv1 is calculated, every preset time
Section Δ t calculates a wayside signaling change rate Svt=Δs St/ Δ t, wherein, Δ StFor the sensing in preset time period Δ t
After wayside signaling change rate Svt is calculated, which is become for the variable quantity of the output signal of circuit unit 101
Rate Svt is compared with getting over dividing value Sv2 under preset wayside signaling change rate, once meet Svt<During Sv2, then area is can determine that
Between change rate signal Svt have occurred down and cross the border, and the duration Δ t to crossing the border under thisSvdnCarry out timing, the duration Δ to cross the border instantly
tSvdnMore than preset duration Δ tadjWhen, i.e., as Δ tSvdn＞ Δs tadjWhen, then the judgements of MCU 105 are controlled the fortune of household electrical appliance
Retardance situation has occurred in the operation of dynamic structure.
It is understood that the present embodiment can be by adjusting more dividing value Sv2 under the preset wayside signaling change rate
With it is described under cross the border duration Δ tSvdnThe size of value change the sensitivity of the present embodiment occlusion detection.Also, the present embodiment
In, when the permanent magnet 104 is in opposite both direction operation, the wayside signaling change rate Sv1 and the preset duration
ΔtadjValue can be identical respectively, can also respectively different or part it is identical, part is different.
If the present embodiment MCU 105 detects that operation resistance occurs for the motion structure of controlled household electrical appliance in t moment
When stagnant, calculate and record the sensing unit 101 in the output signal St of t moment, the position xt of the corresponding permanent magnet 104
And wayside signaling change rate Svt, and export motion structure and be obstructed hysteresis signal to the control circuit unit 106, when the control
Circuit unit 106 processed receive the motion structure be obstructed hysteresis signal when, the permanent magnetism is controlled by the control circuit unit 106
Body 104 is moved according to preset kinematic parameter along second direction of motion opposite with current first direction of motion, when the permanent magnetism
After body 104 moves the first pre-determined distance along second direction of motion, the permanent magnet 104 is controlled to be moved again along described first
Direction continues to move, and suitably adjusts above-mentioned each kinematic parameter.
It is understood that in the present embodiment, the appropriate kinematic parameter that adjusts includes adjustment member kinematic parameter or adjustment entirely
Portion's kinematic parameter, the adjustment of parameter can adjust some special parameter according to preset adjustable strategies, and such as described first is default
The size that distance can change first pre-determined distance according to preset adjustable strategies table (will after such as counter motion each time
First pre-determined distance extends Δ L length or uses the first different pre-determined distances according to number of inversion by tabling look-up) or change
Movement velocity when becoming after each counter motion first direction of motion movement before returning is (such as counter motion each time the
When first direction of motion after one pre-determined distance again before edge moves, first direction of motion before edge is moved into and is at the uniform velocity transported
The speed (also referred to as return speed) of dynamic section increases Δ Sv1Or different return movement speed is used according to number of inversion by tabling look-up
Degree) or by adjusting got under preset wayside signaling change rate dividing value Sv2 and it is described under cross the border duration Δ tSvdnValue size
To change the present embodiment to the sensitivity of the occlusion detection of the motion structure (as after the first pre-determined distance of counter motion each time
When first direction of motion before edge moves again, increase more dividing value Sv2 under the preset wayside signaling change rate or subtract
It is small it is described under cross the border duration Δ tSvdnOr suitably subtract while more dividing value Sv2 under the increase preset wayside signaling change rate
It is small it is described under cross the border duration Δ tSvdn) etc..
Since the present embodiment can always exist the occlusion detection for being controlled the motion structure of household electrical appliance, above-mentioned resistance
Stagnant detection process can move in circles always, can also recycle rear forced termination several times.
Further it will be understood that the present embodiment in addition to can in various household electrical appliance motion structure (such as door-plate,
Lifting platform and certain valves) operation retardance situation be detected outer, the present embodiment can be used for the needs of other industry
The scene being monitored to the operation retardance situation of motion structure.
The scheme cost of the motion structure occlusion detection device of the present embodiment household electrical appliance is relatively low, and due to the present embodiment
Detection scheme is non-contact detecting, therefore the present embodiment has the advantages that anti-pollution is good；Also, the present embodiment is to fit-up gap
It waits structural requirements insensitive, is applicable in the application environment of household electrical appliance completely, the present embodiment can also be horizontal in current technology controlling and process
Under reach preferable detection result；Meanwhile the present embodiment is without the limitation of most short detecting distance, and can be in gamut scope
Ensure the sensing circuit unit 101 output signal Sout and the sensing circuit unit 101 between the permanent magnet 104
Away from x is linear or preferable linear relationship, therefore, the present embodiment has higher accuracy to the occlusion detection of motion structure.
The present invention also provides a kind of motion structure occlusion detection method of household electrical appliance, Fig. 8 is present inventor's electrical appliance
The flow diagram of motion structure occlusion detection method first embodiment, together with reference to Fig. 1, Fig. 3, Fig. 5, Fig. 6, Fig. 7 and Fig. 8,
The motion structure occlusion detection method of the present embodiment household electrical appliance includes the following steps：
S10 when the permanent magnet in the motion structure of controlled household electrical appliance does linear movement to sensing circuit unit, is obtained
The output signal of sensing circuit unit；
S20, when the output signal of the sensing circuit unit reaches preset signals threshold value, every preset time period according to
Preset computation rule calculates the change rate signal of the output signal of the primary sensing circuit unit；
S30, judges whether the wayside signaling change rate of the sensing circuit unit is less than preset wayside signaling change rate
Dividing value is got over down；
S40 crosses the border when the wayside signaling change rate of the sensing circuit unit is less than under preset wayside signaling change rate
During value, judge that more zone phenomenon has occurred down in the wayside signaling change rate, and carries out timing to the lower more zone phenomenon；
S50 when the duration of the lower more zone phenomenon is more than preset duration, judges the motion structure of controlled household electrical appliance
Retardance situation has occurred, and exports motion structure and be obstructed hysteresis signal to control circuit unit in operation, so that the control circuit list
Member controls the operation work of the motion structure.
Specifically, in the present embodiment, it is assumed that the permanent magnet 104 comes into uniform motion shape when moving to x2 positions
State, therefore must assure that in the structure for designing the sensing circuit unit 101 and the permanent magnet 104 spacing between the two
Relative velocity to have met between the two when L2 (during linear movement, x2=L2) is the requirement of uniform motion, so the two
Movement starting distance Lstart must satisfy certain limitation, specifically, in the present embodiment, the movement starting distance of the two
Lstart >=L2+Lts, wherein, L2 is the permanent magnet 104 when to be located at position coordinates be maximum value x2, the permanent magnet 104 with
The spacing of the sensing circuit unit 101, Lts are movement speed of the permanent magnet 104 relative to the sensing circuit unit 101
Required distance when degree changes to more constant.In the present embodiment, the permanent magnet 104 and the sensing circuit unit 101
Spacing L2 value range for 10mm-60mm, the permanent magnet 104 relative to the sensing circuit unit 101 movement speed
Required distance Lts then needs the gap of the motor and transmission system according to controlled household electrical appliance when degree changes to more constant
LgAnd return difference LrgEtc. the actual measured values of parameters calculate, specifically, Lts=Lg+Lrg+Ls, wherein, LsFor nuisance parameter, sheet
In embodiment, the nuisance parameter LsValue range be 0mm-6mm.
The motion structure occlusion detection method of the present embodiment household electrical appliance is the movement knot of the controlled household electrical appliance first
Permanent magnet 104 in structure to sensing circuit unit 101 do linear movement when, obtain the output letter of the sensing circuit unit 101
Number.
When the output signal of the sensing circuit unit 101 reaches preset signals threshold value S2, (S2 is the permanent magnet 104
The output signal of the sensing circuit unit 101 when at the coordinate x2 of unsuccessful movement in-position), it is pressed every preset time period Δ t
The change rate signal Svt of the output signal of the primary sensing circuit unit 101 is calculated according to preset computation rule.Specifically,
The motion structure occlusion detection method of the present embodiment the present embodiment household electrical appliance, when the output of the sensing circuit unit 101 is believed
When number reaching preset signals threshold value S2, according to preset computation rule as follows, primary institute is calculated every preset time period Δ t
State the change rate signal Svt of the output signal of sensing circuit unit 101：
Svt=Δs St/Δt；
Wherein, Δ StFor the variable quantity of the output signal of the sensing circuit unit 101 in the preset time period Δ t,
That is Δ ST=St-St-1, St-1And StThe front and rear sensing circuit list accessed twice in respectively described preset time period Δ t
The output signal of member 101, St>St-1。
For example, when the permanent magnet 104 does linear movement to the sensing circuit unit 101, the sensing circuit list
For the output signal Sout of member 101 when reaching preset signals threshold value S3, the MCU 105 starts timing, and records S3 values and at this time
The position coordinates x3 values of the corresponding permanent magnet 104, when the output signal Sout of the sensing circuit unit 101 reaches pre-
If judge during signal threshold value S2 at the 104 unsuccessful movement in-position coordinate x2 of permanent magnet, and calculate the permanent magnet 104 from
X3 moves to the x2 required time differences as Δ t3-2, wayside signaling variation delta S3-2(ΔS3-2=S2-S3) and wayside signaling change
Rate Sv1 (Sv1=Δs S3-2/Δt3-2).It should be noted that the present embodiment is believed when the output of the sensing circuit unit 101
When number reaching preset signals threshold value S2, judgement detects the permanent magnet 104.
It is understood that the present embodiment reaches preset signals in the output signal Sout of the sensing circuit unit 101
During threshold value S3, the components such as the timer entrained by 105 inside of MCU may be used and carry out timing, furthermore, it is desirable to explanation, in order to
Ensure the wayside signaling changing value Δ S3-2Validity, the present embodiment must assure that be arrived in 104 unsuccessful movement of permanent magnet
The requirement that relative velocity is uniform motion is met when at up to x3.
The motion structure occlusion detection method of the present embodiment household electrical appliance is calculating primary institute every preset time period Δ t
After the change rate signal Svt for stating the output signal of sensing circuit unit 101, by the wayside signaling change rate Svt with it is preset
It gets over dividing value Sv2 under wayside signaling change rate to be compared, when the wayside signaling change rate Svt of the sensing circuit unit 101 is small
When dividing value Sv2 is got under preset wayside signaling change rate, the wayside signaling change rate hair of the sensing circuit unit 101 is judged
Lower more zone phenomenon is given birth to, i.e., once meeting Svt<During Sv2, then the wayside signaling variation of the sensing circuit unit 101 is can determine that
More zone phenomenon has occurred down in rate Svt, and to the duration Δ t of the lower more zone phenomenonSvdnCarry out timing；When the lower more zone phenomenon
Duration Δ tSvdnMore than preset duration Δ tadjWhen, i.e., as Δ tSvdn＞ Δs tadjWhen, then judge to be controlled the movement knot of household electrical appliance
Retardance situation has occurred in the operation of structure, and exports motion structure and be obstructed hysteresis signal to control circuit unit, so that the control electricity
Road unit 106 controls the operation work of the motion structure.
The motion structure occlusion detection method of the present embodiment household electrical appliance relative to household electrical appliance of the prior art fortune
Dynamic structure blocks detection method, since the motion structure occlusion detection method of the present embodiment household electrical appliance is non-contact detecting, because
The structural requirements such as the fit-up gap of motion structure of this present embodiment to being controlled household electrical appliance are insensitive, are applicable in household electrical appliance completely
Application environment；Also, the present embodiment can ensure the biography without the limitation of most short detecting distance in gamut scope
The output signal Sout of inductive circuit unit 101 and the spacing x of the sensing circuit unit 101 to the permanent magnet 104 are linear
Or preferable linear relationship, therefore, the present embodiment has higher standard to the occlusion detection for being controlled the motion structure of household electrical appliance
True property.
Further, with reference to Fig. 9, the motion structure occlusion detection method first embodiment based on above-mentioned household electrical appliance,
In the second embodiment of the motion structure occlusion detection method of present inventor's electrical appliance, above-mentioned steps S50 includes：
S51 when the duration of the lower more zone phenomenon is more than preset duration, judges the motion structure of controlled household electrical appliance
Retardance situation has occurred in operation, and exports motion structure and be obstructed hysteresis signal to control circuit unit；
S52, when the control circuit unit receive the motion structure be obstructed hysteresis signal when, the control circuit unit
Control the permanent magnet in the motion structure according to preset kinematic parameter along opposite with current first direction of motion the
Two directions of motion move；
S53 after the permanent magnet moves the first pre-determined distance along second direction of motion, controls the permanent magnet again
It is secondary to continue to move along first direction of motion.
Specifically, the motion structure occlusion detection method of this household electrical appliance, as the duration Δ t of the lower more zone phenomenonSvdn
More than preset duration Δ tadjWhen, i.e. Δ tSvdn＞ Δs tadjWhen, judge that the operation of the motion structure of controlled household electrical appliance has occurred
Retardance situation, and export motion structure and be obstructed hysteresis signal to the control circuit unit 106.
It is understood that the present embodiment can be by adjusting more dividing value Sv2 under the preset wayside signaling change rate
With it is described under cross the border duration Δ tSvdnThe size of value change the present embodiment to the sensitive of the occlusion detection of the motion structure
Degree.Also, in the present embodiment, when the permanent magnet 104 is in opposite both direction operation, the wayside signaling change rate
The Sv1 and preset duration Δ tadjValue can be identical respectively, can also respectively different or part it is identical, part is different.
The present embodiment when the control circuit unit 106 receive the motion structure be obstructed hysteresis signal when, the control
The permanent magnet 104 in the motion structure in the controlled household electrical appliance of the control of circuit unit 106 is joined according to preset movement
Number is moved along second direction of motion opposite with current first direction of motion；When the permanent magnet 104 is along second side of moving
After the first pre-determined distance of movement, the permanent magnet 104 is controlled to continue to move along first direction of motion again.Specifically,
If the present embodiment when t moment detects that operation retardance occurs for the motion structure of controlled household electrical appliance, is calculated and is recorded described
Sensing unit 101 is in the output signal St of t moment, the position xt and wayside signaling change rate of the corresponding permanent magnet 104
Svt, and export motion structure and be obstructed hysteresis signal to the control circuit unit 106, when the control circuit unit 106 receives
The motion structure be obstructed hysteresis signal when, the permanent magnet 104 is controlled according to preset movement by the control circuit unit 106
Parameter is moved along second direction of motion opposite with current first direction of motion, when the permanent magnet 104 is moved along described second
After direction moves the first pre-determined distance, the permanent magnet 104 is controlled to continue to move along first direction of motion again, and appropriate
Ground adjusts above-mentioned each kinematic parameter.
It is understood that in the present embodiment, the appropriate kinematic parameter that adjusts includes adjustment member kinematic parameter or adjustment entirely
Portion's kinematic parameter, the adjustment of parameter can adjust some special parameter according to preset adjustable strategies, and such as described first is default
The size that distance can change first pre-determined distance according to preset adjustable strategies table (will after such as counter motion each time
First pre-determined distance extends Δ L length or uses the first different pre-determined distances according to number of inversion by tabling look-up) or change
Movement velocity when becoming after each counter motion first direction of motion movement before returning is (such as counter motion each time the
When first direction of motion after one pre-determined distance again before edge moves, first direction of motion before edge is moved into and is at the uniform velocity transported
The speed (also referred to as return speed) of dynamic section increases Δ Sv1Or different return movement speed is used according to number of inversion by tabling look-up
Degree) or by adjusting got under preset wayside signaling change rate dividing value Sv2 and it is described under cross the border duration Δ tSvdnValue size
To change the present embodiment to the sensitivity of the occlusion detection of the motion structure (as after the first pre-determined distance of counter motion each time
When first direction of motion before edge moves again, increase more dividing value Sv2 under the preset wayside signaling change rate or subtract
It is small it is described under cross the border duration Δ tSvdnOr suitably subtract while more dividing value Sv2 under the increase preset wayside signaling change rate
It is small it is described under cross the border duration Δ tSvdn) etc..
Since the present embodiment can always exist the occlusion detection for being controlled the motion structure of household electrical appliance, above-mentioned resistance
Stagnant detection process can move in circles always, can also recycle rear forced termination several times.
Further it will be understood that the present embodiment in addition to can in various household electrical appliance motion structure (such as door-plate,
Lifting platform and certain valves) operation retardance situation be detected outer, the present embodiment can be used for the needs of other industry
The scene being monitored to the operation retardance situation of motion structure.
The motion structure occlusion detection method of the present embodiment household electrical appliance relative to household electrical appliance of the prior art fortune
Dynamic structure blocks detection method, since the motion structure occlusion detection method of the present embodiment household electrical appliance is non-contact detecting, because
The structural requirements such as the fit-up gap of motion structure of this present embodiment to being controlled household electrical appliance are insensitive, are applicable in household electrical appliance completely
Application environment；Also, the present embodiment can ensure the biography without the limitation of most short detecting distance in gamut scope
The output signal Sout of inductive circuit unit 101 and the spacing x of the sensing circuit unit 101 to the permanent magnet 104 are linear
Or preferable linear relationship, therefore, the present embodiment has higher standard to the occlusion detection for being controlled the motion structure of household electrical appliance
True property.
The present invention also provides a kind of household electrical appliance, the motion structure occlusion detection which includes household electrical appliance fills
It puts, the structure of the motion structure occlusion detection device of the household electrical appliance can refer to above-described embodiment, and details are not described herein.Reason is answered
Locality, since the household electrical appliance of the present embodiment employ the technical side of the motion structure occlusion detection device of above-mentioned household electrical appliance
Case, therefore the household electrical appliance have all advantageous effects of the motion structure occlusion detection device of above-mentioned household electrical appliance.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of 1. motion structure occlusion detection device of household electrical appliance, which is characterized in that the motion structure resistance of the household electrical appliance Stagnant detection device includes power supply circuits unit, MCU, control circuit unit, permanent magnet, permanent magnet mounting part, sensing circuit peace Fill component and at least one sensing circuit unit；Wherein,The power supply circuits unit provides supply voltage for the motion structure occlusion detection device for the household electrical appliance；The sensing circuit unit, for obtaining the relative distance signal between the permanent magnet and the sensing circuit unit simultaneously The relative distance signal is converted into the identifiable electric signals of the MCU；The permanent magnet, for providing magnetic field for the permanent magnet mounting part, so that the permanent magnet mounting part moves to Close to the sensing circuit unit pre-determined distance position when the sensing circuit unit is made to generate corresponding electric signal to described MCU；The MCU for monitoring the operating status of motion structure in controlled household electrical appliance according to the electric signal, and works as and monitors When operation retardance occurs for the motion structure, the operation work of the motion structure is controlled via the control circuit unit；The sensing circuit unit is fixedly connected with the sensing circuit installing component, and the permanent magnet is installed with the permanent magnet Component is fixedly connected, the power supply circuits unit respectively with the sensing circuit unit, the MCU and the control circuit unit Power input connection, the sensing circuit unit is also electrically connected with the MCU, and the MCU is also through the control circuit list It is first to be electrically connected with the controlled household electrical appliance.
- 2. the motion structure occlusion detection device of household electrical appliance as described in claim 1, which is characterized in that the sensing circuit Installing component is the non-moving parts of the controlled household electrical appliance, and the permanent magnet mounting part is the controlled household electrical appliance Moving component in motion structure.
- 3. the motion structure occlusion detection device of household electrical appliance as claimed in claim 2, which is characterized in that the sensing circuit Unit includes Magnetic Sensor and the filter circuit unit for the telecommunications that the Magnetic Sensor exports to be filtered, The Magnetic Sensor is connect through the filter circuit unit with the MCU.
- 4. the motion structure occlusion detection device of household electrical appliance as claimed in claim 3, which is characterized in that the Magnetic Sensor For Hall effect magnetic sensor device or magneto-resistance effect magnetic sensor device.
- 5. the motion structure occlusion detection device of household electrical appliance according to any one of claims 1 to 4, which is characterized in that The motion structure occlusion detection device of the household electrical appliance is further included for signal interaction between the MCU and controlled household electrical appliance I/O circuit units, the I/O circuit units connect respectively with the MCU and the controlled household electrical appliance.
- 6. the motion structure occlusion detection device of household electrical appliance as claimed in claim 5, which is characterized in that the household electrical appliance Motion structure occlusion detection device further include electric energy for the motion structure occlusion detection device to the household electrical appliance into The gas gauge circuit unit of row management, the gas gauge circuit unit are connect with the MCU.
- 7. the motion structure occlusion detection device of household electrical appliance as claimed in claim 6, which is characterized in that the household electrical appliance Motion structure occlusion detection device further include for show the controlled household electrical appliance motion structure operating status it is aobvious Show circuit unit, the display circuit unit is connect with the MCU.
- 8. a kind of motion structure occlusion detection method of household electrical appliance, which is characterized in that the motion structure resistance of the household electrical appliance It is stagnant that detection method includes the following steps：S10 when the permanent magnet in the motion structure of controlled household electrical appliance does linear movement to sensing circuit unit, obtains sensing The output signal of circuit unit；S20, when the output signal of the sensing circuit unit reaches preset signals threshold value, every preset time period according to default Computation rule calculate the primary sensing circuit unit output signal change rate signal；S30, judges whether the wayside signaling change rate of the sensing circuit unit is less than under preset wayside signaling change rate more Dividing value；S40, when the wayside signaling change rate of the sensing circuit unit is less than more dividing value under preset wayside signaling change rate, Judge that more zone phenomenon has occurred down in the wayside signaling change rate, and carries out timing to the lower more zone phenomenon；S50 when the duration of the lower more zone phenomenon is more than preset duration, judges the operation of the motion structure of controlled household electrical appliance Retardance situation has occurred, and exports motion structure and is obstructed hysteresis signal to control circuit unit, so that the control circuit unit control Make the operation work of the motion structure.
- 9. the motion structure occlusion detection method of household electrical appliance as claimed in claim 8, which is characterized in that the step S50 Including：S51 when the duration of the lower more zone phenomenon is more than preset duration, judges the operation of the motion structure of controlled household electrical appliance Retardance situation has occurred, and exports motion structure and is obstructed hysteresis signal to control circuit unit；S52, when the control circuit unit receive the motion structure be obstructed hysteresis signal when, control circuit unit control The permanent magnet in the motion structure is transported according to preset kinematic parameter along opposite with current first direction of motion second Dynamic direction movement；S53 after the permanent magnet moves the first pre-determined distance along second direction of motion, controls permanent magnet edge again First direction of motion continues to move.
- 10. a kind of household electrical appliance, which is characterized in that the household electrical appliance include the household described in any one of claim 1 to 7 The motion structure occlusion detection device of electric appliance.
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| CN201810114991.4A CN108227589A (en) | 2018-02-05 | 2018-02-05 | Motion structure occlusion detection device, method and the household electrical appliance of household electrical appliance |
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