CN110631244A - Door body control method, door body, computer storage medium and air conditioner - Google Patents

Door body control method, door body, computer storage medium and air conditioner Download PDF

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Publication number
CN110631244A
CN110631244A CN201910940943.5A CN201910940943A CN110631244A CN 110631244 A CN110631244 A CN 110631244A CN 201910940943 A CN201910940943 A CN 201910940943A CN 110631244 A CN110631244 A CN 110631244A
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China
Prior art keywords
door body
speed
rotating motor
rotating
stroke
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CN201910940943.5A
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CN110631244B (en
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邓焯伟
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Midea Group Co Ltd
GD Midea Air Conditioning Equipment Co Ltd
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Midea Group Co Ltd
Guangdong Midea Refrigeration Equipment Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F1/00—Room units for air-conditioning, e.g. separate or self-contained units or units receiving primary air from a central station
    • F24F1/0007—Indoor units, e.g. fan coil units
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/50—Control or safety arrangements characterised by user interfaces or communication
    • F24F11/61—Control or safety arrangements characterised by user interfaces or communication using timers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
    • F24F11/63—Electronic processing
    • F24F11/64—Electronic processing using pre-stored data
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F13/00—Details common to, or for air-conditioning, air-humidification, ventilation or use of air currents for screening
    • F24F13/08—Air-flow control members, e.g. louvres, grilles, flaps or guide plates
    • F24F13/10—Air-flow control members, e.g. louvres, grilles, flaps or guide plates movable, e.g. dampers

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The invention provides a door body control method, a door body, a computer readable storage medium and an air conditioner, wherein the door body comprises a flexible panel and a flexible connecting part connected with the flexible panel, at least one end of the door body is provided with a rotating motor in transmission connection with the door body, and the door body control method comprises the following steps: acquiring a control instruction corresponding to the movement parameter of the door body; determining the operation parameters of the rotating motor according to the control command; and controlling the corresponding rotating motor to operate according to the operating parameters, wherein the rotating motor is in transmission connection with the flexible connecting part of the door body so as to control the rotating motor to drive the door body to move according to the operating parameters. According to the technical scheme, the flexible deformation of the movable door body in the moving process can be eliminated, the door body is kept flat, the possibility that the door body is influenced by winding of the flexible connecting part is reduced, and the opening and closing process of the door body is smoother.

Description

Door body control method, door body, computer storage medium and air conditioner
Technical Field
The invention relates to the technical field of movable door control, in particular to a door body control method, a door body, a computer readable storage medium and an air conditioner.
Background
At present, the use of floating gate is comparatively general in daily life, for example push-and-pull door, rolling slats door etc. but the switching process of common floating gate needs to realize through manual operation, operates inconveniently. In order to solve the above problems, the related art provides a sliding door, wherein the opening or closing of the sliding door is realized by respectively arranging rotating motors at the head end and the tail end of a door body and by driving and connecting the rotating motors with a flexible part on the door body to drive the door body to move. However, in the related art, due to the influence of gravity, frictional resistance and other factors on the moving process, the rotating speeds of the two motors are inconsistent, so that the flexible part of the door body is loosened, a fault is easily caused, and the moving door is not beneficial to keeping flat in the opening and closing process.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, an object of the present invention is to provide a door body control method.
Another object of the present invention is to provide a door body.
An object of the present invention is to provide a computer-readable storage medium.
An object of the present invention is to provide an air conditioner.
In order to achieve the above object, a first aspect of the present invention provides a door control method, where a door includes a flexible panel and a flexible connection portion connected to the flexible panel, and at least one end of the door is provided with a rotating motor in transmission connection with the door, and the door control method includes: acquiring a control instruction corresponding to the movement parameter of the door body; determining the operation parameters of the rotating motor according to the control command; and controlling the corresponding rotating motor to operate according to the operating parameters, wherein the rotating motor is in transmission connection with the flexible connecting part so as to control the rotating motor to drive the door body to move according to the operating parameters.
According to the door body control method in the technical scheme of the first aspect of the invention, the door body is driven to move by the rotating motor which is arranged at least one end of the door body and is in transmission connection with the door body, wherein the door body comprises the flexible panel and the flexible connecting part connected with the flexible panel. In the door body control method, a control instruction corresponding to a movement parameter of a door body is obtained to determine the movement direction of the door body, so that the door body is in a state to be moved, wherein the movement parameter comprises but is not limited to the movement direction and a switch instruction; and determining the operation parameters of the rotating motor arranged at least one end of the door body according to the control instruction, namely setting the operation parameters of the motor corresponding to the moving direction when the moving direction of the door body is determined, wherein the operation parameters comprise but are not limited to the rotating speed and the rotating direction, and further controlling the rotating motor to operate according to the operation parameters so as to drive the door body to move according to the moving direction specified by the control instruction. The rotating motor is in transmission connection with the flexible connecting portion of the door body so as to transmit power to the door body when the rotating motor rotates and drive the door body to move. The flexible connecting part can be a transmission belt, a traction rope or other flexible parts, the operation is performed by controlling the rotating motor according to specified operation parameters, the flexible connecting part can be normally connected with the rotating motor in the moving process of the door body, the phenomenon of loosening or winding is prevented, and the door body is ensured to be kept flat in the moving process.
It should be emphasized that, both ends of the door body are provided with corresponding rotating motors, when the door body is controlled to move, the rotating motors at both ends of the door body can be controlled to operate with the same operation parameters or with different operation parameters according to the specific conditions of the door body.
It should be noted that, except for the flexible connection portion, the structure of the door body may be entirely a flexible panel, or may be partially a flexible panel, that is, the door body may be formed by combining a flexible panel and a rigid panel, and the door body is in transmission connection with the rotating motor through the flexible connection portion.
It can be understood that the flexible material is easy to bend or stack due to the influence of gravity, friction or other factors in the using process, so that the flexible material is easy to loosen from the rotating motor to influence the normal movement of the door body.
In addition, the door body control method in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, obtaining a control instruction corresponding to a movement parameter of the door body specifically includes: acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards a second direction, wherein the first direction is opposite to the second direction.
In this technical solution, the opening and closing of the door body may move to any end provided with the rotating motor, so that the control instruction corresponding to the moving direction of the door body may be a control instruction for controlling the door body to move to a first direction, or a control instruction for controlling the door body to move to a second direction, where the first direction is opposite to the second direction, that is, the opening direction of the door body may move to the first direction or the second direction, and accordingly, the closing of the door body may move to the second direction or the first direction, so as to perform corresponding setting according to the specific use environment of the door body, so as to reduce the space occupation of the door body in the opening and closing process.
In the above technical solution, determining an operation parameter of at least one rotating electric machine according to a control command specifically includes: determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of a door body according to a control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor, wherein the first rotating motor and the second rotating motor are respectively in transmission connection with the door body, the direction from the first rotating motor to the second rotating motor is a first direction, and the direction from the second rotating motor to the first rotating motor is a second direction.
In this technical scheme, the both ends of the door body all are equipped with the rotation motor, wherein the one end of the door body is equipped with at least one first rotation motor, the other end is equipped with at least one second rotation motor, through at least one rotation motor and at least one second rotation motor of locating the relative both ends of the door body respectively according to control command determination, and confirm the operating parameter of first rotation motor and the operating parameter of second rotation motor, when the quantity of first rotation motor and/second rotation motor is a plurality of, can improve rotation efficiency, and when the same rotation motor sets up for the door body symmetry relatively, be favorable to improving the stability among the transmission process, it is more steady to make the door body remove. The door body is made of flexible materials, the first rotating motor and the second rotating motor are in transmission connection with the door body respectively, the door body can be wound around a rotating shaft of the first rotating motor or a rotating shaft of the second rotating motor, and opening or closing of the door body is achieved. Specifically, the direction from the first rotating motor to the second rotating motor is a first direction, the direction from the second rotating motor to the first rotating motor is a second direction, when the door body moves to the first direction and is opened, the door body can be wound around a rotating shaft of the second rotating motor, one end of the door body corresponding to the first rotating motor is connected with the first rotating motor and the rotating shaft through a flexible connecting part, and the door body is stretched through the flexible connecting part; when the door body moves towards the second direction and is opened, the door body can be wound around the rotating shaft of the first rotating motor, one end of the door body corresponding to the second rotating motor is connected with the rotating shaft through the flexible connecting portion and the second rotating motor, and the door body is stretched through the flexible connecting portion.
In the above technical solution, controlling the operation of the corresponding rotating electric machine according to the operation parameters specifically includes: judging whether a first speed of one end of the door body corresponding to the first rotating motor is the same as a second speed of one end of the door body corresponding to the second rotating motor or not, and generating a judgment result; when the judgment result is yes, controlling the first rotating motor to operate according to the rotating speed corresponding to the first speed, and controlling the second rotating motor to operate according to the rotating speed corresponding to the second speed; if the first speed is higher than the second speed, controlling to reduce the rotation parameter of the first rotating motor to reduce the first speed, or controlling to improve the rotation parameter of the second rotating motor to improve the second speed; and if the first speed is lower than the second speed, controlling to increase the rotation parameter of the first rotating motor to increase the first speed, or controlling to decrease the rotation parameter of the second rotating motor to decrease the second speed.
In the technical scheme, when the corresponding rotating motor is controlled to operate according to the operation parameters, whether the moving speeds of two ends of the door body at the initial moment are equal or not is determined by judging the size relation between the first speed of one end of the door body corresponding to the first rotating motor and the second speed of one end of the door body corresponding to the second rotating motor, and corresponding control operation is carried out when the first speed is not equal to the second speed, so that the calibration of the moving speed of the door body at the initial moment is realized. Specifically, when the first speed is equal to the second speed, the first rotating motor is controlled to operate according to the rotating speed corresponding to the first speed, and the second rotating motor is controlled to operate according to the rotating speed corresponding to the second speed, so that the two ends of the door body move in a state of equal linear velocity. When the first speed is not equal to the second speed, if the first speed is greater than the second speed, the first speed of the door body is reduced by controlling the first rotating motor to reduce the rotating parameters, or the second speed of the door body is increased by controlling the second rotating motor to increase the rotating parameters, so that the difference between the first speed and the second speed of the door body is reduced, and the flexible deformation of the door body at the initial moving moment is reduced. If the first speed is lower than the second speed, the first speed is increased by controlling the first rotating motor to increase the rotating parameters, or the second speed is decreased by controlling the second rotating motor to decrease the rotating parameters, so that the difference between the first speed and the second speed of the door body is reduced, and the flexible deformation of the door body at the initial moving moment is reduced. The rotation parameters include, but are not limited to, rotational speed, torque, frequency, and other parameters that meet the requirements.
In the above technical solution, controlling the operation of the corresponding rotating electric machine according to the operation parameters specifically includes: controlling the first rotating motor to operate for a first time according to the first rotating speed, and controlling the second rotating motor to operate for a second time according to the second rotating speed; determining the residual travel of the door body moving along the moving direction; and controlling the first rotating motor and/or the second rotating motor to operate according to the residual stroke.
In the technical scheme, the first rotating motor is controlled to operate for the first time according to the first rotating speed, the second rotating motor is controlled to operate for the second time according to the second rotating speed, so that the door body can stably move under the common driving of the first rotating motor and the second rotating motor, the operating parameters of the first rotating motor and the second rotating motor are respectively controlled, the door body or the flexible connecting part can be corrected in time when being flexibly deformed, the door body and the flexible connecting part can be restored to the flat state, and the loosening phenomenon can be prevented. And judging whether the door body moves to the target displacement or not by determining the residual travel of the door body moving along the moving direction, namely determining whether the door body is completely opened or completely closed. And controlling the first rotating motor and/or the second rotating motor to operate according to the residual stroke, and respectively performing corresponding control operation when the residual stroke is different, namely when the residual stroke is zero or not zero.
Further, the first rotating speed is the same as the second rotating speed, the first time is the same as the second time, and the first rotating motor and/or the second rotating motor are controlled to operate according to the remaining stroke, specifically including: the moving direction is a first direction, and when the residual stroke is not zero, whether the rotating speed of the first rotating motor is a first rotating speed threshold value or not is judged, and a first judgment result is generated; when the first judgment result is yes, reducing the rotating speed of the first rotating motor, and moving the first rotating motor by a first preset stroke at the reduced rotating speed of the first rotating motor; when the first judgment result is negative, increasing the rotating speed of the first rotating motor, and moving the first rotating motor by a first preset stroke at the increased rotating speed of the first rotating motor; or the moving direction is the second direction, and when the residual stroke is not zero, whether the rotating speed of the second rotating motor is the second rotating speed threshold value or not is judged, and a second judgment result is generated; when the second judgment result is yes, reducing the rotating speed of the second rotating motor, and moving by a second preset stroke at the reduced rotating speed of the second rotating motor; and when the second judgment result is negative, increasing the rotating speed of the second rotating motor, and moving the second rotating motor by a second preset stroke at the increased rotating speed of the second rotating motor, wherein the first rotating speed threshold is the first rotating speed, and the second rotating speed threshold is the second rotating speed.
In the technical scheme, when the first rotating speed is the same as the second rotating speed and the first time is the same as the second time, the control steps of controlling the first rotating motor and/or the second rotating motor to operate according to the remaining stroke are divided into two conditions: the moving direction of the door body is a first direction or a second direction. In the first case, the door body moves towards the first direction, the residual stroke is nonzero, the running state of the first rotating motor is determined by judging whether the rotating speed of the first rotating motor is a first rotating speed threshold value or not and producing a first judgment result, if the rotating speed of the first rotating motor is equal to the first rotating speed threshold value, the rotating speed of the first rotating motor is reduced, the first rotating motor moves a first preset stroke at the reduced rotating speed, and at the moment, the rotating speed of the second rotating motor is greater than the rotating speed of the first rotating motor, so that the door body is stretched through the flexible connecting part, the door body and the flexible connecting part generate tension, the degree of freedom of the door body and the flexible connecting part is reduced, and the phenomenon of loosening is prevented; if the rotating speed of the first rotating motor is not equal to the first rotating speed threshold value, the first rotating motor is indicated to finish the stretching stroke, and the rotating speed of the first rotating motor is increased to the first rotating speed threshold value, so that the first rotating motor is recovered to run at the same speed as the second rotating motor, and the door body is driven to move continuously. In a second situation, the door body moves towards a second direction, the residual stroke is nonzero, the running state of the second rotating motor is determined by judging whether the rotating speed of the second rotating motor is a second rotating speed threshold value or not and producing a second judgment result, if the rotating speed of the second rotating motor is equal to the second rotating speed threshold value, the rotating speed of the second rotating motor is reduced, the second rotating motor moves a second preset stroke at the reduced rotating speed, at the moment, the rotating speed of the first rotating motor is greater than the rotating speed of the second rotating motor, the door body is stretched through the flexible connecting part, and the door body and the flexible connecting part generate tension, so that the degree of freedom of the door body and the flexible connecting part is reduced, and the phenomenon of loosening is prevented; if the rotating speed of the second rotating motor is not equal to the second rotating speed threshold, the second rotating motor is indicated to finish the stretching stroke, and the rotating speed of the second rotating motor is increased to the second rotating speed threshold, so that the second rotating motor is recovered to run at the same speed as the first rotating motor, and the door body is driven to move continuously. Wherein the first rotation speed threshold is a first rotation speed, and the second rotation speed threshold is a second rotation speed, even if the initial rotation speeds of the first and second rotating motors are the same.
In the above technical solution, the door body control method further includes: and when the residual stroke is zero, controlling the first rotating motor and the second rotating motor to stop running.
In the technical scheme, when the residual stroke is zero, the door body reaches the target position, namely the door body is completely opened or closed, and the moving process of the door body is finished by controlling the first rotating motor and the second rotating motor to stop running so as to prevent the door body from continuously moving beyond the limit position to cause faults.
In the above technical solution, controlling the first rotating motor to operate for a first time according to the first rotating speed, and controlling the second rotating motor to operate for a second time according to the second rotating speed specifically includes: controlling the second rotating motor to operate for a first preset time according to the second rotating speed; and adjusting the second rotating speed, controlling the second rotating motor to operate for a second preset time period according to the adjusted second rotating speed, and controlling the first rotating motor to operate for the second preset time period according to the first rotating speed.
In the technical scheme, when the door body starts to move, the first rotating motor and the second rotating motor start to operate non-simultaneously, the second rotating motor is controlled to operate for a first preset time according to a second rotating speed, so that certain tension is generated between the door body and the flexible connecting part to eliminate flexible deformation, the door body is kept flat, and the flexible connecting part is kept in a straight state; the second rotating speed is adjusted, the second rotating motor is controlled to operate for the second preset time according to the adjusted second rotating speed, and the first rotating motor is controlled to operate for the second preset time according to the first rotating speed, so that the first rotating motor and the second rotating motor keep the same linear speed to drive the door body to move for the same time, and the door body keeps flat in the moving process.
It should be noted that the output torque of the second rotating electric machine at the second rotation speed is smaller than the output torque of the second rotating electric machine at the adjusted second rotation speed, and the first preset time period is a smaller time interval. It can be understood that the first preset time period when the second rotating motor operates at the second rotating speed is for enabling the door body and the flexible connecting portion to generate a tension force, and if the output torque of the second rotating motor is too large at the moment, or the second preset time period is too long, the door body or the flexible connecting portion is easily damaged by stress.
Further, the operation of the first rotating motor and/or the second rotating motor is controlled according to the remaining stroke, which specifically comprises: the moving direction is a first direction, and when the residual stroke is not zero, whether the rotating speed of the first rotating motor is a first rotating speed threshold value or not is judged, and a first judgment result is generated; when the first judgment result is yes, reducing the rotating speed of the first rotating motor, and controlling the door body to move for a first preset stroke by using the reduced rotating speed of the first rotating motor; when the first judgment result is negative, increasing the rotating speed of the first rotating motor, and controlling the door body to move for a first preset stroke by the increased rotating speed of the first rotating motor; or the moving direction is the second direction, and when the residual stroke is not zero, whether the rotating speed of the second rotating motor is the second rotating speed threshold value or not is judged, and a second judgment result is generated; when the second judgment result is yes, reducing the rotating speed of the second rotating motor, and controlling the door body to move for a second preset stroke by using the reduced rotating speed of the second rotating motor; and when the second judgment result is negative, increasing the rotating speed of the second rotating motor, and controlling the door body to move for a second preset stroke by using the increased rotating speed of the second rotating motor, wherein the first rotating speed threshold is a first rotating speed, and the second rotating speed threshold is a second rotating speed.
In this technical solution, the control step of controlling the operation of the first rotating electric machine and/or the second rotating electric machine according to the remaining stroke is divided into two cases: the moving direction of the door body is a first direction or a second direction. In the first case, the door body moves towards the first direction, the residual stroke is nonzero, the running state of the first rotating motor is determined by judging whether the rotating speed of the first rotating motor is a first rotating speed threshold value or not and producing a first judgment result, if the rotating speed of the first rotating motor is equal to the first rotating speed threshold value, the rotating speed of the first rotating motor is reduced, the first rotating motor moves a first preset stroke at the reduced rotating speed, at the moment, the linear speed of the second rotating motor is greater than that of the first rotating motor, the door body is stretched through the flexible connecting part, and the door body and the flexible connecting part generate tension, so that the degree of freedom of the door body and the flexible connecting part is reduced, and the phenomenon of loosening is prevented; if the rotating speed of the first rotating motor is not equal to the first rotating speed threshold, the first rotating motor is indicated to finish the stretching stroke, and the rotating speed of the first rotating motor is increased to the first rotating speed threshold, so that the first rotating motor is recovered to the linear speed same as that of the second rotating motor, and the door body is driven to move continuously. In a second situation, the door body moves towards a second direction, the residual stroke is nonzero, the running state of the second rotating motor is determined by judging whether the rotating speed of the second rotating motor is a second rotating speed threshold value or not and producing a second judgment result, if the rotating speed of the second rotating motor is equal to the second rotating speed threshold value, the rotating speed of the second rotating motor is reduced, and the second rotating motor moves a second preset stroke at the reduced rotating speed, at the moment, the linear speed of the first rotating motor is greater than the speed of the second rotating motor, so that the door body is stretched through the flexible connecting part, the door body and the flexible connecting part generate tension, the degree of freedom of the door body and the flexible connecting part is reduced, and the phenomenon of loosening is prevented; if the rotating speed of the second rotating motor is not equal to the second rotating speed threshold, the second rotating motor is indicated to complete the stretching stroke, and the rotating speed of the second rotating motor is increased to the second rotating speed threshold, so that the second rotating motor is recovered to the linear speed which is the same as that of the first rotating motor to operate, and the door body is driven to move continuously. The first rotation speed threshold value is a first rotation speed, and the second rotation speed threshold value is a second rotation speed.
In the above technical solution, the door body control method further includes: and when the residual stroke is zero, controlling the first rotating motor to stop running, and controlling the second rotating motor to run for a third preset time according to the second rotating speed.
In the technical scheme, when the residual stroke is zero, the first rotating motor is controlled to stop running, and the second rotating motor is controlled to run for a third preset time according to the second rotating speed, so that the door body and the flexible connecting part generate a tensioning force through the driving of the second rotating motor when one end of the door body stops moving, the flexible deformation is eliminated, the door body is kept flat, and the flexible connecting part is kept in a straight state.
In the above technical solution, the door body control method further includes: the moving direction is a first direction, and when the first judgment result is yes, a first preset stroke of the door body moving when the first judgment result is yes is added; the moving direction is a first direction, and when the first judgment result is negative, the first preset stroke of the door body moving when the first judgment result is negative is reduced; the moving direction is the second direction, and when the second judgment result is yes, a second preset stroke of the door body moving when the second judgment result is yes is added; the moving direction is the second direction, and when the second judgment result is negative, the second preset stroke of the door body moving when the second judgment result is negative is reduced.
In the technical scheme, when the door body moves towards the first direction, if the first judgment result is that the rotating speed of the first rotating motor is equal to the first rotating speed threshold value, the first preset stroke of the door body moving when the first judgment result is yes is increased, namely the stroke of the two ends of the door body moving at different linear speeds is increased next time; and when the first judgment result is that the rotating speed of the first rotating motor is not equal to the first rotating speed threshold value, reducing the first preset stroke of the door body movement when the first judgment result is no, namely reducing the stroke of the two ends of the door body moving at the equal linear speed next time. Through the steps, the stretching stroke of the door body is gradually increased, and the stroke of the door body in the constant linear velocity moving process is gradually reduced. When the door body moves towards the second direction, if the second judgment result is that the rotating speed of the second rotating motor is equal to the second rotating speed threshold value, increasing a second preset stroke of the door body moving when the second judgment result is yes, namely increasing the stroke of two ends of the door body moving at different linear speeds at the next time; and when the second judgment result is that the rotating speed of the second rotating motor is not equal to the second rotating speed threshold value, reducing a second preset stroke of the door body moving when the second judgment result is no, namely reducing the stroke of the two ends of the door body moving at the same linear speed next time. Through the steps, the stretching stroke of the door body is gradually increased, and the stroke of the door body in the constant linear velocity moving process is gradually reduced.
It can be understood that the door body is through constantly the roll-up at the removal in-process, and the length of the part that the door body extends reduces gradually, and the length crescent of flexonics portion, and the flexible deformation volume that can produce also crescent, therefore through the tensile stroke of the increase door body, flexible deformation volume is eliminated correspondingly to the stroke that linear velocity removed such as reduction, makes the door body and flexonics portion keep the flattening, avoids taking place to take off the removal that the pine takes off or twine the influence door body, is favorable to improving the efficiency that the door body removed.
In the above technical solution, before determining the operation parameters of the rotating electric machine provided at least one end of the door body according to the control command, the method further includes: determining at least one moving stroke of the door body moving along a first direction or a second direction; the operation parameters of the rotating motor which is arranged at least one end of the door body are determined to specifically comprise: determining the operating parameters of the first rotating motor and the second rotating motor in each moving stroke; controlling the corresponding rotating motor to operate according to the operating parameters, and specifically comprising: and respectively controlling the first rotating motor and the second rotating motor to operate according to the operation parameters.
In the technical scheme, all strokes required for the door body to finish moving towards the first direction or the second direction are determined by determining at least one moving stroke of the door body moving along the first direction or the second direction; setting operation parameters corresponding to the first rotating motor and the second rotating motor in each stroke according to different requirements of each stroke by determining the operation parameters of the first rotating motor and the second rotating motor in each moving stroke so as to enable the operation parameters to be matched with the requirements of each stroke; the first rotating motor and the second rotating motor are respectively controlled to operate according to the operating parameters, so that the first rotating motor and the second rotating motor operate according to the corresponding operating parameters in each stroke, and the door body is driven to move according to the corresponding moving requirements in each stroke. The different moving requirements can be that the door body integrally moves at a constant speed, or two ends of the door body move at different speeds, and the different moving requirements can also be requirements of other aspects.
In the above technical solution, determining the operation parameters of the first rotating motor and the second rotating motor in each moving stroke specifically includes: the moving stroke specifically comprises a first moving stroke, a second moving stroke and a third moving stroke which are sequentially distributed according to the moving direction of the door body; in the first moving stroke, a first speed of one end of the door body corresponding to the first rotating motor is the same as a second speed of one end of the door body corresponding to the second rotating motor; in the second moving process, when the door body moves along the first direction, reducing the first speed so that the first speed of the second moving process is smaller than the second speed, and when the door body moves along the second direction, reducing the second speed so that the second speed of the second moving process is smaller than the first speed; in the third movement stroke, the first speed and the second speed are the same.
In the technical scheme, the door body completes one-time movement towards the first direction or the second direction and comprises a plurality of strokes, and accordingly, the operating parameters of the first rotating motor and the second rotating motor corresponding to each stroke are different. Specifically, the moving stroke is sequentially divided into a first moving stroke, a second moving stroke and a third moving stroke according to the moving direction of the door body. In the first moving process, a first speed of the door body corresponding to one end of the first rotating motor is the same as a second speed of the door body corresponding to the first end of the second rotating motor, so that two ends of the door body move at the same speed, and the whole door body keeps moving stably. In the second moving stroke, when the door body moves along the first direction, the first speed is reduced to be lower than the second speed, so that the door body generates tension to eliminate the flexible deformation of the door body and the flexible connecting part, the door body is kept flat, and the flexible connecting part is kept in a straight state to avoid influencing the movement of the door body; similarly, when the door body moves along the second direction, the second speed is reduced to enable the second speed to be smaller than the first speed, so that the door body generates tension to eliminate the flexible deformation of the door body and the flexible connecting part, further the door body keeps flat, and meanwhile, the flexible connecting part keeps a straight state to avoid affecting the movement of the door body. In the third moving process, the first speed and the second speed are set to be the same again, so that after the flexible deformation is eliminated, the door body returns to the constant-speed movement at the two ends, and the door body keeps stable in the continuous moving process.
It should be noted that, when the first speed of the door body corresponding to one end of the first rotating motor is the same as the second speed of the door body corresponding to one end of the second rotating motor, only the linear velocity of the output shaft of the first rotating motor is the same as the linear velocity of the output shaft of the second rotating motor, the rotating speed of the first rotating motor is not necessarily the same as the rotating speed of the second rotating motor, and the rotating speed of the first rotating motor is different from the rotating speed of the second rotating motor when the radii of the output shafts of the two rotating motors are different and the output shafts are connected with a speed reducer or other structures affecting the transmission ratio exist.
In the above technical solution, determining the operation parameters of the first rotating motor and the second rotating motor in each moving stroke specifically includes: the moving stroke specifically comprises a first moving stroke, a second moving stroke, a third moving stroke, a fourth moving stroke and a fifth moving stroke which are sequentially distributed according to the moving direction of the door body; in the first moving process, when the door body moves along the first direction, the first speed of one end of the door body corresponding to the first motor is zero, the second speed of one end of the door body corresponding to the second motor is non-zero, and when the door body moves along the second direction, the second speed is zero, and the first speed is non-zero; in the second moving stroke, the first speed and the second speed are the same; in a third moving process, when the door body moves along the first direction, reducing the first speed so that the first speed of the third moving process is smaller than the second speed, and when the door body moves along the second direction, reducing the second speed so that the second speed of the third moving process is smaller than the first speed; in the fourth movement stroke, the first speed and the second speed are the same; in the fifth movement stroke, when the door body moves in the first direction, the first speed is zero, the second speed is non-zero, and when the door body moves in the second direction, the second speed is zero, and the first speed is non-zero.
In the technical scheme, the door body completes one-time movement towards the first direction or the second direction and comprises a plurality of strokes, and accordingly, the operating parameters of the first rotating motor and the second rotating motor corresponding to each stroke are different. Specifically, the moving stroke is sequentially divided into a first moving stroke, a second moving stroke, a third moving stroke, a fourth moving stroke and a fifth moving stroke according to the moving direction of the door body.
In the first moving process, when the door body moves along the first direction, the first speed of one end of the door body corresponding to the first rotating motor is set to be zero, the second speed of the door body corresponding to the second rotating motor is non-zero, when the door body moves along the second direction, the second speed is zero, the first speed is non-zero, so that two ends of the door body do not simultaneously start to move, one end in front of the moving direction starts to move before the other end, the flexible deformation of the door body and the flexible connecting part is eliminated through the traction force applied to the door body by the end which moves first, the door body is kept flat, and meanwhile, the flexible connecting part is in a straightening state, so that the movement of the door body is not influenced. In the second movement stroke, the first speed and the second speed are set to be the same, so that the door body stably moves towards the target direction. In the third movement stroke, when the door body moves to the first direction, the first speed is reduced so that the first speed is smaller than the second speed, and when the door body moves to the second direction, the second speed is reduced so that the second speed is smaller than the first speed, so that the door body generates tension, the flexible deformation of the door body and the flexible connecting part is eliminated, the door body is kept flat, and meanwhile, the flexible connecting part is kept in a straight state so that the door body is prevented from being influenced in movement. In the first moving process, the first speed and the second speed are set to be the same, so that the two ends of the door body move back to move at the same speed, and the stability of the door body in the moving process is kept. In the fifth moving stroke, when the door body moves along the first direction, the first speed is zero, the second speed is non-zero, when the door body moves along the second direction, the second speed is zero, the first speed is non-zero, namely in the fifth moving stroke, two ends of the door body do not start to move simultaneously, one end in front of the moving direction starts to move before the other end, the flexible deformation of the door body and the flexible connecting part is eliminated through the traction force applied to the door body by the end which moves firstly, the door body is kept flat, and meanwhile, the flexible connecting part is in a straightening state, so that the moving of the door body is not influenced.
In the above technical solution, the second moving stroke specifically includes a plurality of second sub-strokes distributed in sequence according to the moving direction of the door body, and in the moving direction of the door body, the stroke length of the former of any two adjacent second sub-strokes is greater than the stroke length of the latter; the third moving stroke specifically comprises a plurality of third sub-strokes which are distributed in sequence according to the moving direction of the door body, and in the moving direction of the door body, the stroke length of the front one of any two adjacent third sub-strokes is smaller than that of the rear one.
In the technical scheme, the second moving stroke comprises a plurality of second sub-strokes distributed in sequence according to the moving direction of the door body, and the third moving stroke comprises a plurality of third sub-strokes distributed in sequence according to the moving direction of the door body, so that the second moving stroke and the third moving stroke are respectively completed in stages, and the first rotating motor and the second rotating motor are controlled to operate according to corresponding operating parameters according to the specific conditions of the door body in each second sub-stroke and each third sub-stroke. In the moving direction of the door body, the length of the door body is gradually reduced, the length of the flexible connecting part is gradually increased, and the flexible deformation is gradually increased, so that in any two adjacent second sub-strokes, the stroke length of the previous sub-stroke is set to be larger than that of the next sub-stroke, namely, the stroke length of each second sub-stroke is gradually shortened in sequence, in any two adjacent third sub-strokes, the stroke length of the previous sub-stroke is set to be smaller than that of the next sub-stroke, namely, the stroke length of each third sub-stroke is gradually increased in sequence, so that the strokes of two ends of the door body moving at constant speed are gradually reduced, and the stroke for adjusting the flexible deformation is gradually increased, so that the flexible deformation of the door body in the moving process is kept in a controllable range, and the door body is prevented from being normally moved due to overlarge influence of the flexible deformation.
In a second aspect of the present invention, there is provided a door, including a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor implements the door control method according to any one of the first aspect of the present invention when executing the computer program.
According to the second aspect of the present invention, the door body includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, so that when the processor executes the computer program, the steps of the door body control method according to any one of the first aspect of the present invention are implemented, and thus the door body has all the beneficial effects of the door body control method according to any one of the first aspect of the present invention, and details thereof are not repeated herein.
In a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the door body control method according to any one of the first aspect.
According to the computer-readable storage medium of the third aspect of the present invention, the computer program is stored on the computer-readable storage medium, so that when the computer program is executed by the processor, the steps of the door body control method in any one of the above-mentioned aspects are implemented, and therefore, all the beneficial effects of the door body control method in any one of the above-mentioned aspects are achieved, and details are not repeated herein.
The technical scheme of the fourth aspect of the invention provides an air conditioner, which comprises a shell, a fan and a fan, wherein an air outlet is arranged on the shell; the door body is movably connected with the shell so as to open or close the air outlet through the movement of the door body, wherein the door body comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and the door body control method in any one of the technical schemes of the first aspect is realized when the processor executes the computer program.
According to the technical scheme of the fourth aspect of the invention, the air conditioner comprises a shell and a door body, wherein the shell is provided with an air outlet, the door body is movably connected with the shell, and the air outlet on the shell is opened or closed through the movement of the door body, so that the dustproof and protective effects on the internal parts of the air conditioner are achieved. In addition, the door further includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the door control method in the first aspect of the present invention is implemented.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic flow diagram of a door control method according to an embodiment of the invention;
FIG. 2 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 3 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 4 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 5 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 6 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 7 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 8 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 9 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 10 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 11 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 12 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 13 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
fig. 14 is a flowchart illustrating a door control method according to an embodiment of the present invention;
FIG. 15 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
FIG. 16 is a schematic flow chart diagram illustrating a door control method according to one embodiment of the present disclosure;
fig. 17 is a schematic flow chart illustrating a door control method according to an embodiment of the present invention;
fig. 18 is a flowchart illustrating a door control method according to an embodiment of the present invention;
FIG. 19 shows a schematic structural view of a tambour door in accordance with an embodiment of the present invention;
FIG. 20 shows a schematic structural view of a tambour door in accordance with an embodiment of the present invention;
FIG. 21 shows a schematic view of a tambour door in accordance with an embodiment of the present invention.
Wherein, the corresponding relationship between the reference numbers and the components in fig. 19 and fig. 21 is:
1 door body, 21 first rotating motor, 22 first rotating shaft, 31 second rotating motor, 32 second rotating shaft and 4 traction ropes.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A door control method, a door, a computer-readable storage medium, and an air conditioner according to some embodiments of the present invention will be described below with reference to fig. 1 to 21.
Example one
As shown in fig. 1, the door body control method in the present embodiment includes the following steps:
step S102, acquiring a control instruction corresponding to the movement parameter of the door body;
step S104, determining the operation parameters of a rotating motor arranged at least one end of the door body according to the control instruction;
and S106, controlling the corresponding rotating motor to operate according to the operation parameters.
The door body comprises a flexible panel and a flexible connecting portion connected with the flexible panel, at least one end of the door body is provided with a rotating motor, the rotating motor is in transmission connection with the door body through the flexible connecting portion, and the rotating motor is controlled to drive the door body to move according to operation parameters. Movement parameters include, but are not limited to, movement direction, switch commands.
Example two
As shown in fig. 2, the door body control method in the present embodiment includes the following steps:
step S202, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S204, determining the operation parameters of a rotating motor arranged at least one end of the door body according to the control instruction;
and step S206, controlling the corresponding rotating motor to operate according to the operation parameters.
Wherein the first direction is opposite to the second direction.
EXAMPLE III
As shown in fig. 3, the door body control method in the present embodiment includes the following steps:
step S302, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S304, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
and S306, controlling the corresponding rotating motor to operate according to the operation parameters.
The first rotating motor and the second rotating motor are in transmission connection with two ends of the door body respectively, the direction from the first rotating motor to the second rotating motor is a first direction, and the direction from the second rotating motor to the first rotating motor is a second direction.
Example four
As shown in fig. 4, the door body control method in the present embodiment includes the following steps:
step S402, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S404, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S406, controlling the first rotating motor to operate for a first time according to a first rotating speed, and controlling the second rotating motor to operate for a second time according to a second rotating speed;
step S408, determining the residual travel of the door body moving along the moving direction;
and step S410, controlling the first rotating motor and/or the second rotating motor to operate according to the residual stroke.
EXAMPLE five
The door body control method in this embodiment includes different method steps according to different moving directions of the door body, and specifically, as shown in fig. 5, when the moving direction of the door body is the first direction, the door body control method includes the following steps:
step S502, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S504, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S506, controlling the first rotating motor to operate for a first time according to the first rotating speed, and controlling the second rotating motor to operate for a second time according to the second rotating speed;
step S508, determining the residual travel of the door body moving along the moving direction;
step S510, the first rotating speed and the second rotating speed are the same, the first time and the second time are the same, the moving direction is the first direction, and the residual stroke is nonzero;
step S510, judging whether the rotating speed of the first rotating motor is
A first rotation speed threshold value, generating a first judgment result, if the first judgment result is yes, executing step S512, otherwise executing step S514;
step S512, reducing the rotating speed of the first rotating motor, and moving a first preset stroke at the reduced rotating speed of the first rotating motor;
step S516, increasing the rotation speed of the first rotating motor, and moving the first rotating motor by a first preset stroke at the increased rotation speed of the first rotating motor.
As shown in fig. 6, when the moving direction of the door body is the second direction, the door body control method includes the following steps:
step S602, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S604, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S606, controlling the first rotating motor to operate for a first time according to a first rotating speed, and controlling the second rotating motor to operate for a second time according to a second rotating speed;
step S608, determining the residual travel of the door body moving along the moving direction;
step S610, the first rotating speed is the same as the second rotating speed, the first time is the same as the second time, the moving direction is the second direction, and the residual stroke is nonzero;
step S612, determining whether the rotation speed of the second rotating motor is a second rotation speed threshold, and generating a second determination result, if the second determination result is yes, performing step S614, otherwise, performing step S616;
step S614, reducing the rotating speed of the second rotating motor, and moving a second preset stroke at the reduced rotating speed of the second rotating motor;
in step S616, the rotation speed of the second rotating motor is increased, and the second rotating motor moves by a second preset stroke at the increased rotation speed.
And in the process that the door body moves towards the first direction or the second direction, the first rotating speed threshold value is the first rotating speed, and the second rotating speed threshold value is the second rotating speed.
EXAMPLE six
As shown in fig. 7, the door body control method in the present embodiment includes the following steps:
step S702, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S704, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S706, controlling the first rotating motor to operate for a first time according to the first rotating speed, and controlling the second rotating motor to operate for a second time according to the second rotating speed;
step S708, determining the residual travel of the door body moving along the moving direction;
and step S710, controlling the first rotating motor and the second rotating motor to stop running, wherein the first rotating speed is the same as the second rotating speed, the first time is the same as the second time, and the residual stroke is zero.
EXAMPLE seven
As shown in fig. 8, the door body control method in the present embodiment includes the following steps:
step S802, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S804, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S806, controlling the second rotating motor to operate for a first preset time according to the second rotating speed;
step S808, adjusting a second rotating speed, controlling a second rotating motor to operate for a second preset time according to the adjusted second rotating speed, and controlling a first rotating motor to operate for the second preset time according to the first rotating speed;
step S810, determining the residual travel of the door body moving along the moving direction;
and step S812, controlling the first rotating motor and/or the second rotating motor to operate according to the residual stroke.
Example eight
The door body control method in this embodiment includes different method steps according to different moving directions of the door body, and specifically, as shown in fig. 9, the door body control method in this embodiment includes the following steps:
step S902, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S904, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S906, controlling a second rotating motor to operate for a first preset time according to a second rotating speed;
step S908, adjusting a second rotating speed, controlling the second rotating motor to operate for a second preset time according to the adjusted second rotating speed, and controlling the first rotating motor to operate for the second preset time according to the first rotating speed;
step S910, determining the residual travel of the door body moving along the moving direction;
step S912, the moving direction is a first direction, and when the remaining stroke is non-zero, it is determined whether the rotation speed of the first rotating motor is a first rotation speed threshold value, and a first determination result is generated, if the first determination result is yes, step S914 is executed, otherwise step S916 is executed;
step S914, reducing the rotating speed of the first rotating motor, and controlling the door body to move for a first preset stroke by the reduced rotating speed of the first rotating motor;
and step S916, increasing the rotation speed of the first rotating motor, and controlling the door body to move for a first preset stroke by the increased rotation speed of the first rotating motor.
As shown in fig. 10, the door body control method in the present embodiment includes the following steps:
step S1002, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1004, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S1006, controlling the second rotating motor to operate for a first preset time according to the second rotating speed;
step S1008, adjusting a second rotating speed, controlling a second rotating motor to operate for a second preset time according to the adjusted second rotating speed, and controlling a first rotating motor to operate for the second preset time according to the first rotating speed;
step S1010, determining the residual travel of the door body moving along the moving direction;
step S1012, the moving direction is a second direction, and when the remaining stroke is not zero, it is determined whether the rotation speed of the second rotating motor is a second rotation speed threshold, and a second determination result is generated, if the second determination result is yes, step S1014 is executed, otherwise step S1016 is executed;
step S1014, reducing the rotating speed of the second rotating motor, and controlling the door to move a second preset stroke by the reduced rotating speed of the second rotating motor;
and step S1016, increasing the rotating speed of the second rotating motor, and controlling the door body to move for a second preset stroke according to the increased rotating speed of the second rotating motor.
And in the process that the door body moves towards the first direction or the second direction, the first rotating speed threshold value is the first rotating speed, and the second rotating speed threshold value is the second rotating speed.
Example nine
As shown in fig. 11, the door body control method in the present embodiment includes the following steps:
step S1102, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1104, determining at least one first rotating motor and at least one second rotating motor respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S1106, controlling the second rotating motor to operate for a first preset time according to the second rotating speed;
step S1108, adjusting a second rotating speed, controlling the second rotating motor to operate for a second preset time according to the adjusted second rotating speed, and controlling the first rotating motor to operate for the second preset time according to the first rotating speed;
step S1110, determining the residual travel of the door body moving along the moving direction;
and step S1112, when the residual stroke is zero, controlling the first rotating motor to stop running, and controlling the second rotating motor to run for a third preset time according to the second rotating speed.
Example ten
The door body control method in this embodiment includes different method steps according to different moving directions of the door body, and specifically, as shown in fig. 12, the door body control method in this embodiment includes the following steps:
step S1202, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1204, determining at least one first rotating motor and at least one second rotating motor respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S1206, controlling the second rotating motor to operate for a first preset time according to the second rotating speed;
step S1208, adjusting a second rotating speed, controlling the second rotating motor to operate for a second preset time according to the adjusted second rotating speed, and controlling the first rotating motor to operate for the second preset time according to the first rotating speed;
step S1210, determining the residual travel of the door body moving along the moving direction;
step S1212, determining whether the rotation speed of the first rotating motor is the first rotation speed threshold value when the movement direction is the first direction and the remaining stroke is not zero, and generating
A first determination result, if the first determination result is yes, performing step S1214, otherwise performing step S1218;
step S1214, reducing the rotating speed of the first rotating motor, and controlling the door body to move for a first preset stroke by the reduced rotating speed of the first rotating motor;
step S1216, increasing a first preset stroke of movement of the door body when the first judgment result of the next time is yes;
step S1218, increasing the rotation speed of the first rotating motor, and controlling the door body to move a first preset stroke at the increased rotation speed of the first rotating motor;
in step S1220, the first preset stroke of the door body moving when the first determination result is negative is decreased.
As shown in fig. 13, when the moving direction of the door body is the second direction, the door body control method in the present embodiment includes the following steps:
step S1302, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1304, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step 1306, controlling a second rotating motor to operate for a first preset time according to a second rotating speed;
step S1308, adjusting a second rotation speed, controlling the second rotating motor to operate for a second preset time period according to the adjusted second rotation speed, and controlling the first rotating motor to operate for the second preset time period according to the first rotation speed;
step 1310, determining the residual travel of the door body moving along the moving direction;
step S1312, the moving direction is the second direction, when the remaining stroke is not zero, it is determined whether the rotation speed of the second rotating motor is the second rotation speed threshold, and a second determination result is generated, if the second determination result is yes, step S1314 is executed, otherwise step S1318 is executed;
step S1314, decreasing the rotation speed of the second rotating motor, and controlling the door to move a second preset stroke at the decreased rotation speed of the second rotating motor;
step S1316, increasing a second preset travel of the door body to move when the next second judgment result is yes;
step S1318, increasing the rotating speed of the second rotating motor, and controlling the door body to move for a second preset stroke according to the increased rotating speed of the second rotating motor;
in step S1320, the second preset travel of the door body moving when the second determination result is no is decreased.
EXAMPLE eleven
As shown in fig. 14, the door body control method in the present embodiment includes the following steps:
step S1402, obtaining a control instruction for controlling the door body to move towards the first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1404, determining at least one moving stroke of the door body moving along the first direction or the second direction;
step S1406, determining the operation parameters of the first rotating electric machine and the second rotating electric machine in each movement stroke;
and step S1408, respectively controlling the first rotating motor and the second rotating motor to operate according to the operation parameters.
Example twelve
As shown in fig. 15, the door body control method in the present embodiment includes the following steps:
step S1502, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1504, determining at least one moving stroke of the door body moving along the first direction or the second direction;
step S1506, the moving stroke specifically includes a first moving stroke, a second moving stroke, and a third moving stroke that are sequentially distributed according to the moving direction of the door body;
a step S1508 of making a first speed of one end of the door body corresponding to the first rotating motor and a second speed of one end of the door body corresponding to the second rotating motor the same in the first moving stroke;
step S1510, in the second moving stroke, reducing the first speed so that the first speed of the second moving stroke is lower than the second speed when the door body moves in the first direction, and reducing the second speed so that the second speed of the second moving stroke is lower than the first speed when the door body moves in the second direction;
step S1512, in the third movement stroke, the first speed and the second speed are the same;
and step S1514, controlling the first rotating motor and the second rotating motor to operate respectively according to the operation parameters.
EXAMPLE thirteen
As shown in fig. 16, the door body control method in the present embodiment includes the following steps:
step S1602, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1604, determining at least one moving stroke of the door body moving along the first direction or the second direction;
step S1606, the moving stroke specifically includes a first moving stroke, a second moving stroke, a third moving stroke, a fourth moving stroke, and a fifth moving stroke that are sequentially distributed according to the moving direction of the door body;
step S1608, in the first moving stroke, when the door body moves in the first direction, a first speed of one end of the door body corresponding to the first motor is zero, a second speed of one end of the door body corresponding to the second motor is non-zero, when the door body moves in the second direction, the second speed is zero, and the first speed is non-zero;
step S1610, in the second moving stroke, the first speed and the second speed are the same;
step S1612, in the third moving stroke, reducing the first speed so that the first speed of the third moving stroke is smaller than the second speed when the door body moves in the first direction, and reducing the second speed so that the second speed of the third moving stroke is smaller than the first speed when the door body moves in the second direction;
step S1614, in the fourth movement stroke, the first speed and the second speed are the same;
step S1616, in the fifth movement stroke, when the door body moves in the first direction, the first speed is zero, and the second speed is non-zero, and when the door body moves in the second direction, the second speed is zero, and the first speed is non-zero;
and step S1618, respectively controlling the first rotating motor and the second rotating motor to operate according to the operation parameters.
Example fourteen
As shown in fig. 17, the door body control method in the present embodiment includes the following steps:
step 1702, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1704, determining at least one moving stroke of the door body moving along the first direction or the second direction;
step 1706, the moving stroke specifically includes a first moving stroke, a second moving stroke, a third moving stroke, a fourth moving stroke, and a fifth moving stroke that are sequentially distributed according to the moving direction of the door body;
step S1708, in a first moving stroke, when the door body moves along a first direction, a first speed of one end of the door body corresponding to the first motor is zero, a second speed of one end of the door body corresponding to the second motor is non-zero, and when the door body moves along a second direction, the second speed is zero, and the first speed is non-zero;
step S1710, in the second movement stroke, the first speed and the second speed are the same;
step S1712, in the moving direction of the door body, the stroke length of the front one of any two adjacent second sub-strokes is larger than that of the back one;
step S1714, in the third moving stroke, when the door body moves in the first direction, decreasing the first speed so that the first speed of the third moving stroke is lower than the second speed, and when the door body moves in the second direction, decreasing the second speed so that the second speed of the third moving stroke is lower than the first speed;
step S1716, in the moving direction of the door body, the stroke length of the front one of any two adjacent third sub-strokes is smaller than that of the back one;
step S1718, in the fourth movement stroke, the first speed and the second speed are the same;
step S1720, in the fifth moving stroke, when the door body moves in the first direction, the first speed is zero, the second speed is non-zero, when the door body moves in the second direction, the second speed is zero, and the first speed is non-zero;
and step S1722, controlling the first rotating motor and the second rotating motor to operate respectively according to the operation parameters.
Example fifteen
As shown in fig. 18, the control method of the present embodiment includes the steps of:
step S1802, acquiring a control instruction for controlling the door body to move towards a first direction; or acquiring a control instruction for controlling the door body to move towards the second direction;
step S1804, determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control instruction, and determining the operating parameters of the first rotating motor and the operating parameters of the second rotating motor;
step S1806, judging whether a first speed of one end of the door body corresponding to the first rotating motor is the same as a second speed of one end of the door body corresponding to the second rotating motor, and generating a judgment result; if yes, executing step S1808, otherwise executing step S1810;
a step S1808 of controlling the first rotating motor to operate according to a rotation speed corresponding to the first speed and controlling the second rotating motor to operate according to a rotation speed corresponding to the second speed;
step S1810: and judging whether the first speed is greater than the second speed, if so, executing a step S1812, otherwise, executing a step S1814.
The linear velocities of the two ends of the door body are calibrated at the initial moving moment of the door body through the steps so as to reduce the flexible deformation. The rotation parameters include, but are not limited to, rotational speed, torque, frequency, and other parameters that meet the requirements.
Example sixteen
The present embodiment provides a door body, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the door body control method in any one of the first to fifteenth embodiments may be implemented.
Example seventeen
The present embodiment provides a computer-readable storage medium storing a computer program, which when executed by a processor, can implement the door body control method according to any one of the first to fifteenth embodiments.
EXAMPLE eighteen
In this embodiment, as shown in fig. 19, the roll door includes the door body, the first rotating motor, the first rotating shaft, the second rotating shaft of the second rotating motor, and the pulling rope according to the fifteenth embodiment, and when the computer program stored in the memory of the door body is executed by the processor, the door body control method according to any one of the first to fifteenth embodiments may be implemented.
In addition, the door body is a flexible door body and can be flexibly deformed, and the number of the first rotating motors and the number of the second rotating motors are two; the door body length direction sets up along vertical direction, and the door body is along the upper end and the first axis of rotation fixed connection of vertical direction, and the both ends of first axis of rotation are connected with two first rotating electrical machines transmission respectively, and the lower extreme of the door body along vertical direction is connected with the second axis of rotation through locating the haulage rope in the second axis of rotation, and the both ends of second axis of rotation are connected with two second rotating electrical machines transmission respectively. The door body moves upwards to be an opening process, and the door body moves downwards to be a closing process.
Specifically, as shown in fig. 20 and 21, in the door body opening process, the first rotating motor drives the first rotating shaft to rotate, so as to drive the upper end of the door body to be wound around the first rotating shaft, the lower end of the door body is kept connected with the second rotating shaft through the traction rope, and under the driving of the second rotating motor, the length of the traction rope is gradually increased until the door body moves upwards to the limit position, so that the door body is completely opened. In the door body closing process, the second rotating motor drives the second rotating shaft to rotate to drive the traction rope to wind the second rotating shaft to roll up, and further drives the door body to descend, the first rotating motor drives the first rotating shaft to rotate to enable the door body in the rolled state to gradually recover to the extended state, and in the door body descending process, the door body control method in any one of the first embodiment to the fifteenth embodiment is applied to eliminate the flexible deformation of the door body and the traction rope, so that the door body and the traction rope are in a controllable range, and the phenomenon that the traction rope is wound to influence the movement of the door body is avoided.
It should be noted that this embodiment is only one preferred embodiment of the present invention, and the door body may also be rolled up by the second rotating shaft and connected to the first rotating shaft by the pulling rope, so that the door body is lowered to an opening process and lifted to a closed state. Of course, the door body can also move along the horizontal direction or other directions to be opened or closed, and the door body control method can also be applied to realize the opening or closing.
Example nineteen
The embodiment provides an air conditioner, which comprises a shell and a door body, wherein the shell is provided with an air outlet, the door body is arranged at the air outlet and movably connected with the shell, and the air outlet on the shell is opened or closed through the movement of the door body. The door body further includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the door body control method according to any one of the first to fifteenth embodiments is implemented when the computer program is executed by the processor, so that the door body of the air conditioner is controlled and the door body is moved.
The technical scheme of the invention is explained in detail by combining the attached drawings, the flexible deformation of the movable door body in the moving process can be eliminated, the door body is kept flat, the possibility that the flexible connecting part is wound to influence the movement of the door body is reduced, and the opening and closing process of the door body is smoother.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (18)

1. A door body control method is characterized in that a door body comprises a flexible panel and a flexible connecting part connected with the flexible panel, wherein at least one end of the door body is provided with a rotating motor in transmission connection with the door body, and the door body control method comprises the following steps:
acquiring a control instruction corresponding to the movement parameter of the door body;
determining the operating parameters of the rotating motor according to the control command;
controlling the corresponding rotating motor to operate according to the operating parameters,
the rotating motor is in transmission connection with the flexible connecting portion so as to control the rotating motor to drive the door body to move according to the operation parameters.
2. The door body control method according to claim 1, wherein the control command corresponding to the movement parameter of the door body specifically includes:
acquiring a control instruction for controlling the door body to move towards a first direction; or
Acquiring a control instruction for controlling the door body to move towards the second direction,
wherein the first direction is opposite to the second direction.
3. The door body control method according to claim 2, wherein the determining an operating parameter of at least one of the rotating electrical machines according to the control command specifically includes:
determining at least one first rotating motor and at least one second rotating motor which are respectively arranged at two opposite ends of the door body according to the control command,
the first rotating motor and the second rotating motor are in transmission connection with the door body respectively, the direction from the first rotating motor to the second rotating motor is the first direction, and the direction from the second rotating motor to the first rotating motor is the second direction.
4. The door body control method according to claim 3, wherein the controlling of the operation of the corresponding rotating electric machine according to the operation parameter specifically includes:
judging whether a first speed of one end of the door body corresponding to the first rotating motor is the same as a second speed of one end of the door body corresponding to the second rotating motor, and generating a judgment result;
when the judgment result is yes, controlling a first rotating motor to operate according to the rotating speed corresponding to the first speed, and controlling a second rotating motor to operate according to the rotating speed corresponding to the second speed; when the judgment result is negative, the judgment result is that,
if the first speed is higher than the second speed, controlling to reduce the rotation parameter of the first rotating motor to reduce the first speed, or controlling to improve the rotation parameter of the second rotating motor to improve the second speed;
and if the first speed is lower than the second speed, controlling to increase the rotation parameter of the first rotating motor to increase the first speed, or controlling to decrease the rotation parameter of the second rotating motor to decrease the second speed.
5. The door body control method according to claim 3, wherein the controlling of the operation of the corresponding rotating electric machine according to the operation parameter specifically includes:
controlling the first rotating motor to operate for a first time according to a first rotating speed, and controlling the second rotating motor to operate for a second time according to a second rotating speed;
determining the residual travel of the door body moving along the moving direction;
and controlling the first rotating motor and/or the second rotating motor to operate according to the residual stroke.
6. The door body control method according to claim 5, wherein the first rotation speed is the same as the second rotation speed, the first time is the same as the second time, and the controlling the first rotating motor and/or the second rotating motor to operate according to the remaining stroke specifically includes:
the moving direction is the first direction, and when the residual stroke is not zero, whether the rotating speed of the first rotating motor is a first rotating speed threshold value or not is judged, and a first judgment result is generated;
when the first judgment result is yes, reducing the rotating speed of the first rotating motor, and moving for a first preset stroke at the reduced rotating speed of the first rotating motor;
when the first judgment result is negative, increasing the rotating speed of the first rotating motor, and moving the first rotating motor by a first preset stroke at the increased rotating speed of the first rotating motor; or
The moving direction is the second direction, and when the remaining stroke is not zero, whether the rotating speed of the second rotating motor is a second rotating speed threshold value is judged, and a second judgment result is generated;
when the second judgment result is yes, reducing the rotating speed of the second rotating motor, and moving by a second preset stroke at the reduced rotating speed of the second rotating motor;
if the second judgment result is negative, increasing the rotation speed of the second rotating motor, and moving the second rotating motor by a second preset stroke at the increased rotation speed of the second rotating motor,
wherein the first rotation speed threshold is the first rotation speed, and the second rotation speed threshold is the second rotation speed.
7. The door body control method according to claim 6, characterized by further comprising:
and when the residual stroke is zero, controlling the first rotating motor and the second rotating motor to stop running.
8. The door body control method according to claim 5, wherein the controlling the first rotating motor to operate for a first time according to a first rotating speed and the controlling the second rotating motor to operate for a second time according to a second rotating speed specifically includes:
controlling the second rotating motor to operate for a first preset time according to a second rotating speed;
and adjusting the second rotating speed, controlling the second rotating motor to operate for a second preset time period according to the adjusted second rotating speed, and controlling the first rotating motor to operate for the second preset time period according to the first rotating speed.
9. The door body control method according to claim 8, wherein the controlling the first rotating electric machine and/or the second rotating electric machine to operate according to the remaining stroke specifically includes:
the moving direction is the first direction, and when the residual stroke is not zero, whether the rotating speed of the first rotating motor is a first rotating speed threshold value or not is judged, and a first judgment result is generated;
when the first judgment result is yes, reducing the rotating speed of the first rotating motor, and controlling the door body to move for a first preset stroke by using the reduced rotating speed of the first rotating motor;
when the first judgment result is negative, increasing the rotating speed of the first rotating motor, and controlling the door body to move for a first preset stroke at the increased rotating speed of the first rotating motor; or
The moving direction is the second direction, and when the remaining stroke is not zero, whether the rotating speed of the second rotating motor is a second rotating speed threshold value is judged, and a second judgment result is generated;
when the second judgment result is yes, reducing the rotating speed of the second rotating motor, and controlling the door body to move for a second preset stroke by using the reduced rotating speed of the second rotating motor;
if the second judgment result is negative, increasing the rotating speed of the second rotating motor, and controlling the door body to move for a second preset stroke according to the increased rotating speed of the second rotating motor,
wherein the first rotation speed threshold is the first rotation speed, and the second rotation speed threshold is the second rotation speed.
10. The door body control method according to claim 9, characterized by further comprising:
and when the residual stroke is zero, controlling the first rotating motor to stop running, and controlling the second rotating motor to run for a third preset time according to the second rotating speed.
11. The door body control method according to claim 9, characterized by further comprising:
the moving direction is the first direction, and when the first judgment result is yes, a first preset stroke of the door body moving when the first judgment result is yes is added;
the moving direction is the first direction, and when the first judgment result is negative, the first preset stroke of the door body moving when the first judgment result is negative is reduced;
the moving direction is the second direction, and when the second judgment result is yes, a second preset stroke of the door body moving when the second judgment result is yes is added;
the moving direction is the second direction, and when the second judgment result is negative, the second preset stroke of the door body moving when the second judgment result is negative is reduced.
12. The door body control method according to claim 3, further comprising, before determining an operation parameter of a rotating electric machine provided at least one end of the door body according to the control command:
determining at least one moving stroke of the door body moving along the first direction or the second direction;
the operation parameters of the rotating motor which is determined to be arranged at least one end of the door body specifically comprise:
determining operating parameters of the first rotating motor and the second rotating motor in each of the movement strokes;
the controlling the corresponding rotating motor to operate according to the operating parameters specifically comprises:
and respectively controlling the first rotating motor and the second rotating motor to operate according to the operation parameters.
13. The door body control method according to claim 12, wherein the determining the operating parameters of the first rotating electric machine and the second rotating electric machine in each movement stroke specifically includes:
the moving stroke specifically comprises a first moving stroke, a second moving stroke and a third moving stroke which are sequentially distributed according to the moving direction of the door body;
in the first moving stroke, a first speed of one end of the door body corresponding to the first rotating motor is the same as a second speed of one end of the door body corresponding to the second rotating motor;
in the second moving process, when the door body moves along the first direction, reducing the first speed so that the first speed of the second moving process is lower than the second speed, and when the door body moves along the second direction, reducing the second speed so that the second speed of the second moving process is lower than the first speed;
in the third movement stroke, the first speed and the second speed are the same.
14. The door body control method according to claim 12, wherein the determining the operating parameters of the first rotating electric machine and the second rotating electric machine in each movement stroke specifically includes:
the moving strokes specifically comprise a first moving stroke, a second moving stroke, a third moving stroke, a fourth moving stroke and a fifth moving stroke which are distributed in sequence according to the moving direction of the door body;
in the first moving stroke, when the door body moves along the first direction, a first speed of one end of the door body corresponding to the first rotating motor is zero, a second speed of one end of the door body corresponding to the second rotating motor is non-zero, when the door body moves along the second direction, the second speed is zero, and the first speed is non-zero;
in the second moving stroke, the first speed and the second speed are the same;
in the third moving stroke, when the door body moves along the first direction, reducing the first speed so that the first speed of the third moving stroke is lower than the second speed, and when the door body moves along the second direction, reducing the second speed so that the second speed of the third moving stroke is lower than the first speed;
in the fourth movement stroke, the first speed and the second speed are the same;
in the fifth moving stroke, when the door body moves along the first direction, the first speed is zero, the second speed is nonzero, and when the door body moves along the second direction, the second speed is zero, and the first speed is nonzero.
15. The door body control method according to claim 14,
the second moving stroke specifically comprises a plurality of second sub-strokes which are distributed in sequence according to the moving direction of the door body, and the stroke length of the front one of any two adjacent second sub-strokes is greater than that of the rear one in the moving direction of the door body;
the third moving stroke specifically comprises a plurality of third sub-strokes which are distributed in sequence according to the moving direction of the door body, and in the moving direction of the door body, the stroke length of the front one of any two adjacent third sub-strokes is smaller than that of the rear one.
16. A door comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the door control method according to any one of claims 1 to 15 when executing the computer program.
17. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the door control method according to any one of claims 1 to 15.
18. An air conditioner, comprising: the air conditioner comprises a shell, wherein an air outlet is formed in the shell; the door body is movably connected with the shell so as to open or close the air outlet through the movement of the door body,
the door body comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the door body control method according to any one of claims 1 to 15.
CN201910940943.5A 2019-09-30 2019-09-30 Door body control method, door body, computer storage medium and air conditioner Active CN110631244B (en)

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