CN111721057A

CN111721057A - Control method, control device, refrigeration equipment and storage medium

Info

Publication number: CN111721057A
Application number: CN201910215974.4A
Authority: CN
Inventors: 符秀亮; 袁进国; 史慧新; 宁志芳
Original assignee: Hefei Hualing Co Ltd; Midea Group Co Ltd; Hefei Midea Refrigerator Co Ltd
Current assignee: Hefei Hualing Co Ltd; Midea Group Co Ltd; Hefei Midea Refrigerator Co Ltd
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-09-29
Anticipated expiration: 2039-03-21
Also published as: CN111721057B

Abstract

The invention provides a control method, a control device, refrigeration equipment and a storage medium, wherein the control method comprises the following steps: acquiring a driving mode of a door body and rotation information of the door body; and determining whether a control instruction of the door body is generated or not according to the driving mode and the rotation information, wherein the control instruction is used for assisting the door body to be opened and/or closed smoothly. According to the technical scheme, whether the control instruction of the door body is generated or not is determined based on the detection of the driving mode and the rotating speed of the door body, on one hand, the probability of abnormal opening and closing of the door body can be reduced, so that the impact probability of abnormal external force on the refrigeration equipment is reduced, the normal operation of a moving part in the refrigeration equipment is ensured, the service life of the whole refrigeration equipment is further prolonged, on the other hand, the abnormal condition of the door is detected based on the rotating speed, the auxiliary treatment is carried out on the abnormal condition, the stable door opening and closing process is realized, the controllability of the door opening and closing process is further improved, and the reliability of internal storage is ensured.

Description

Control method, control device, refrigeration equipment and storage medium

Technical Field

The invention relates to the field of household appliances, in particular to a control method of a door body, a control device of the door body, refrigerating equipment and a computer readable storage medium.

Background

In the related art, an angle sensor is provided at a connection between a cabinet body and a door body of a refrigeration apparatus to detect a door opening and closing operation through the angle sensor, and although an automatic door opening operation and an automatic door closing operation can be realized, the following drawbacks still exist:

(1) because the storage area on the inner side of the door body can also store articles, when the door is opened and closed manually, particularly when the door is closed vigorously, the door body rebounds or articles in the storage area on the inner side decline due to the violent collision between the door body and the cabinet body, so that the controllability of the door body in the opening and closing process is poor;

(2) because the detection of the angle sensor has hysteresis, if the door body is controlled to stop rotating completely according to the door opening angle or the door closing angle acquired by the angle sensor in the process of controlling the automatic opening and closing door through the angle sensor, the phenomenon that the door opening angle is insufficient or the door is not closed tightly can occur, and the reliability of automatic control is low.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

Therefore, an object of the present invention is to provide a method for controlling a door.

Another object of the present invention is to provide a control device for a door body.

It is another object of the present invention to provide a refrigeration apparatus.

It is another object of the present invention to provide a computer-readable storage medium.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a method for controlling a door, including: acquiring a driving mode of a door body and rotation information of the door body; and determining whether a control instruction of the door body is generated or not according to the driving mode and the rotation information, wherein the control instruction is used for assisting the door body to be opened and/or closed smoothly.

In this technical scheme, the door body mainly includes two kinds of drive mode, one kind is for the automatic switching of the drive motor rotation drive door body through the connection, and the other kind is through the effect drive door body switching of external force, opens or the in-process of closing at the drive mode drive door body of difference, through the detection to door body rotation information, confirms whether the door body needs door body control to under door body control, accomplish the operation of opening the door or closing the door gently relatively, thereby be favorable to promoting door body on-off control's automation level.

Specifically, whether an abnormal phenomenon occurs in the current door travel or not can be determined based on the detection of the door rotating speed, the abnormal phenomenon at least comprises the abnormal door opening and closing phenomenon caused by the overlarge force of manual operation and the abnormal phenomenon that the door cannot be normally opened or closed due to the external force action in the automatic door opening and closing process, namely whether the current door rotating state is normal or not can be determined based on the detection of the door rotating speed no matter under the conditions of manual driving or automatic driving, and therefore when the abnormal condition occurs is detected, a control instruction is generated.

The rotation information includes the detected opening and closing angle, the rotating speed of the door body, the rotating trend of the door body and the like.

The control instruction can be directly applied to the motion control of the door body so as to realize the smooth opening and/or closing of the door body, the control instruction can also be used for controlling the door body to be switched from an abnormal driving mode to another normal driving mode, and when the other normal driving mode is manual operation, the control instruction is regarded as a motion control instruction indirectly applied to the door body.

Whether a control instruction of a door body is generated or not is determined through detection based on a driving mode and the rotating speed of the door body, on one hand, the probability of abnormal opening and closing of the door body can be reduced, so that the impact probability of abnormal external force on refrigeration equipment is reduced, the normal operation of moving parts in the refrigeration equipment is guaranteed, the service life of the whole refrigeration equipment is prolonged, on the other hand, the abnormal condition of the door is detected through the rotating speed, the abnormal condition is subjected to auxiliary treatment, the stable door opening and closing process is realized, the controllability of the door opening and closing process is improved, and the reliability of internal storage is guaranteed.

Specifically, to the inside storing of the storage district of the door body scene, when the circumstances of closing the door greatly through the detection to the door body rotational speed, through in time generating control command to and in time carry out gentle control and close the door, thereby prevent that the article in storage district from leading to the phenomenon of landing because of assaulting.

In addition, the detection of the rotating speed of the door body can be realized by directly arranging a speed sensor, and can also be determined by the rotating angle detected for many times and the corresponding time interval.

In the foregoing technical solution, preferably, determining whether to generate a control command for the door body according to the driving mode and the rotation information specifically includes: and under a non-motor driving mode, detecting that the door body is in an acceleration rotation state, and determining to generate a control command.

In the technical scheme, aiming at the application scene of non-motor drive, namely manual drive, whether the door body rotation under the manual drive is abnormal or not can be determined by detecting whether the door body rotation speed is in an acceleration rotation state or not, so that when the door body rotation speed under the manual drive is abnormal, a control instruction is generated in real time.

In addition, whether the door opening operation or the door closing operation is abnormal can be determined by detecting whether the real-time rotating speed of the door body is overlarge.

In any of the above technical solutions, preferably, in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically includes: identifying whether the door body is in a door opening stroke or a door closing stroke according to the angle change information of the door body; if the door body is identified to be in the door opening stroke and in the accelerated rotation state, generating a first control instruction, wherein the first control instruction is used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door opening direction according to the preset door opening rotating speed through the motor; and if the door body is in a door closing stroke and in an accelerated rotation state, generating a second control instruction, wherein the second control instruction is used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door closing direction according to the preset door closing rotating speed through the motor.

In the technical scheme, for an application scenario of non-motor drive, that is, manual drive, further, a change of the angle of the door body may be detected by an angle sensor, so as to determine that the door body is currently in a door opening stroke or a door closing stroke through the change of the angle of the door body, when a speed abnormality is detected in a specific stroke, corresponding control instructions may be generated for different strokes, specifically, a first control instruction for controlling the driving motor to drive the door body to continue to open the door may be generated for a door body rotation speed abnormality phenomenon in the door opening stroke, and a second control instruction for controlling the driving motor to drive the door body to continue to close may be generated for the door body rotation speed abnormality phenomenon in the door closing stroke, where the first control instruction and the second control instruction are both switched within the same stroke when the rotation speed abnormality is found, that is to finally complete the door opening operation through the control of the first control instruction in the door opening stroke, in the door closing stroke, the door closing operation is finally completed through the control of the second control instruction, on one hand, the switching between the manual driving mode and the automatic driving mode in the same stroke is realized, and on the other hand, the stable door opening and closing operation is realized through the manual door opening and closing process of an intervention user, so that the use experience of the user is improved.

The preset door opening speed is the speed for enabling the door body to be opened stably, and the preset door closing speed is the speed for enabling the door body to be closed stably.

In any of the above technical solutions, preferably, in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically includes: the door opening stroke of the door body has an accelerated rotation state, and before the door closing stroke of the corresponding door body is executed, a third control instruction is generated and used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door closing direction according to the preset door closing rotating speed through the motor.

In the technical scheme, in order to further improve the reliability of door body control, for a group of door opening and closing operations, when the abnormality of the manual door opening operation in the first half is detected, the corresponding second half operation can be switched to the automatic gentle door closing operation by generating a third control instruction, so that the function of starting the door closing operation in the second half based on the speed abnormality in the first half is realized, and the probability of large collision between the door body and the cabinet body is reduced.

The triggering condition of the third control instruction may be that the detected door opening time reaches a preset time, or that the detected external force pushes the door body to close.

In any of the above technical solutions, preferably, in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically includes: under a non-motor driving mode, if the door opening action of the door body is detected and the door opening angle of the door body does not reach the preset door opening angle after the preset time, generating a fourth control instruction, wherein the fourth control instruction is used for switching the driving mode into a motor driving mode and controlling the door body to rotate to the preset door opening angle according to the preset door opening rotating speed; if the door closing action of the door body is detected, and the door opening angle of the door body does not reach the preset door opening angle after the preset time length, a fifth control instruction is generated and used for switching the driving mode into the motor driving mode and controlling the door body to be closed according to the preset door closing rotating speed.

In this technical solution, whether a control command is generated or not may also be determined by detecting a door opening trend or a door closing trend, where it can be understood by those skilled in the art that, regardless of the door opening rotation trend or the door closing rotation trend, a door opening action has been detected but a sufficient door opening angle is not opened in a door closing state, or a door closing action has been detected but a door closing operation has not been completed in a door opening state, in this case, if such a trend state is still maintained for a preset duration, a corresponding control command may be generated to assist the completion of the door opening operation in the door opening trend or assist the completion of the door closing operation in the door closing trend, so as to improve an intelligent level of door opening and closing, and assist the execution of the auxiliary operation by recognizing a user intention, on the one hand, a probability that the user forgets to open or close the door can be reduced, on the other hand, the operation steps of the user are also saved.

In any one of the above technical solutions, preferably, the driving motor is connected to the door body through a multi-stage transmission mechanism, the multi-stage transmission mechanism realizes transmission coordination through a clutch device, and determines whether to generate a control instruction of the door body according to the driving mode and the rotation information, and specifically includes: and under the non-motor driving mode, detecting that the maintaining time of the door body in the door opening state is greater than or equal to a preset time threshold, and determining to generate a sixth control instruction, wherein the sixth control instruction is used for controlling the door body to be closed through motor driving.

In the technical scheme, in a manual driving mode, the situation that the door is forgotten to be closed or the door is not completely closed exists, the rotating speed of the door body is zero at the moment, in this situation, the duration of the duration.

The preset time length threshold value is set time length which guarantees that a user has enough time to take out articles in the refrigeration equipment according to actual use conditions.

In any of the above technical solutions, preferably, determining whether to generate a control command for the door body according to the driving mode and the rotation information specifically includes: and under the motor driving mode, determining whether to generate a control command according to the relation between the rotating speed of the door body and a preset rotating speed threshold value.

In the technical scheme, in an application scene of realizing automatic driving through the operation of the driving motor, the driving motor controls the door body to rotate at a constant speed according to a received control instruction so as to realize stable door opening and closing operation, the actual rotating speed is compared with the preset rotating speed threshold value through the set preset rotating speed threshold value so as to judge whether the actual rotating speed is abnormal or not, and the control instruction is generated under the condition that the abnormal rotating speed is detected so as to correct the abnormal rotating speed through the control instruction, so that the controllability of door opening and closing operation is ensured.

The preset rotating speed threshold value is a speed value limiting the door body to be in a gentle rotating range, and can be a value or a numerical range.

In any one of the above technical solutions, preferably, determining whether to generate a control command according to a relationship between a rotation speed of the door body and a preset rotation speed threshold specifically includes: and when the rotating speed of the door body is detected to be larger than the upper limit speed threshold or smaller than the lower limit speed threshold, controlling to generate a seventh control instruction, wherein the seventh control instruction is used for controlling a driving motor of the door body to stop running and releasing the clutch device.

In the technical scheme, in a scene that a motor drives a door body to rotate, an upper limit speed threshold and a lower limit speed threshold are preset to form a speed interval of normal rotating speed of the door body, when the rotating speed of the door body is detected to be in the speed interval, the door body can be considered to be normally opened and closed, and when the rotating speed of the door body is detected to be smaller than or equal to the lower limit speed threshold or larger than or equal to the upper limit speed threshold, the driving mechanism (at least comprising a driving motor, a transmission mechanism, a clutch device and the like) is indicated to be abnormally operated or abnormally interfered by external force, at the moment, in order to prevent the driving mechanism from being abnormally and abnormally deteriorated, the driving mechanism needs to be closed in time, namely, a seventh control instruction is generated to realize the closing of the driving mechanism so as to switch from an automatic driving mode to a manual driving mode, and the, therefore, the probability of the door body being opened and/or closed smoothly is improved while the probability of electrical abnormity of the refrigeration equipment is reduced.

Specifically, in the door closing stroke or the door opening stroke, the controller can read the real-time acquisition value of the angle sensor through the interval time, calculate the rotating speed of the door body, and preset an upper limit speed threshold and a lower limit speed threshold respectively, if obstacle force is met during operation, the rotating speed of the door body can be reduced, when the rotating speed is reduced to be less than or equal to the lower limit speed threshold, the system can stop driving emergently, and similarly, in the operation process, if artificial force is exerted in the same direction, the rotating speed of the door body is too fast, and exceeds the speed threshold, the driving can also be stopped emergently, so that the external force is prevented from damaging the driving machine.

Further, in order to improve the accuracy of detection, sampling is more accurate, and the door body control can be performed after the speed is determined to be abnormal for several times, for example, the door body control is performed after the abnormality is identified for 3 times.

In any of the above technical solutions, preferably, the method further includes: in the door opening process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door opening angle fed back by the angle sensor in real time; and controlling the driving motor to stop running under the condition that the difference value between the detected door opening angle and the preset door opening angle is smaller than or equal to the preset redundant angle threshold value.

The preset redundant angle threshold is a redundant angle value determined according to a detection error of the angle sensor, and specifically may be 2 °.

In any of the above technical solutions, preferably, the method further includes: in the door closing process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door closing angle fed back by the angle sensor in real time; and detecting that the door closing angle reaches 0 degrees, and controlling the driving motor to continuously rotate for preset redundant time.

The preset redundant time is a short time for ensuring the door closing effect to control the driving motor to continue rotating, and is usually 2 to 5 s.

In the technical scheme, in order to ensure the door opening and closing effect in the motor driving mode, in a normal door opening stroke, whether the door body is opened in place or not is determined through detecting the angle, and the driving motor is controlled to stop running under the condition that the difference value between the detected door opening angle and the preset door opening angle is smaller than or equal to the preset redundant angle threshold value so as to indicate that the current door opening is in place, so that the difference detected by the angle sensor is compensated, and the reliability of door opening control is improved.

In the normal door closing stroke, whether the door body is closed in place is determined through the detection of the angle, when the condition that the duration of the door closing stroke reaches the preset time threshold value is detected, the door closing operation is executed for a short time in a prolonged mode, the time length is the preset redundant time threshold value, the cooperation between the door body and the equipment can be closer through the measures, and the reliability of the door closing control of the equipment and the use experience of a user can be improved. In the process of electrically opening and closing the door, the sampling values of the angles have certain difference due to reading time, so that when the door is opened and the preset door opening angle is about to be reached, the absolute value of the difference value between the current acquisition value and the preset door opening angle is controlled, when the absolute value of the difference value between the current acquisition value and the preset door opening angle is less than 2 degrees, the door can be considered to be in place, and the driving is stopped. In order to ensure the reliability of door closing, the door can be driven for 0.5 second more (only a preferable reference value can be set according to the control effect of the whole machine) after the action is finished, and the door can be tightly closed by giving surplus driving.

In any of the above technical solutions, preferably, the method further includes: and if the control instruction is generated, generating door body control prompt information to prompt a user to enter a door body control state corresponding to the control instruction.

In this technical solution, based on the above discussion, it can be considered that the essence of the control command is to switch between the motor driving mode and the manual driving mode, in order to ensure that the user knows the switching operation between the current different modes, when entering the control state corresponding to the control command, a corresponding prompt tone is generated to prompt the user to have the switching operation, so that when the motor driving mode is converted into the manual driving, the user is prompted to execute the manual operation, and when the manual driving is converted into the motor driving, the user is prompted to not apply an external force, thereby ensuring the smooth execution of the control command.

In any one of the above technical solutions, preferably, an angle sensor is disposed on a rotating shaft of the door body, an electromagnet that cooperates with the angle sensor to detect an angle is disposed on any transmission assembly on the multi-stage transmission mechanism, and before determining whether to generate a control instruction of the door body according to the driving mode and the rotation information, the method further includes: respectively recording a first output value of the angle sensor when the door body is in a closed state and a second output value of the angle sensor when the door body is in a preset door opening angle; and correcting the output value of the closed state to be a zero value, and correcting the output value of the preset door opening angle to be a difference value between the second output value and the first output value.

In the technical scheme, before the door body is assembled on the cabinet body, the magnetic pole direction is random, and the fool-proofing is not good, so that after the driving motor and the multi-stage transmission mechanism are respectively and movably fixed relative to the door body, the minimum value (also called as zero position) of the door closing angle needs to be determined, the maximum limit value of the preset door opening angle is reached, the refrigerator needs to be calibrated when being assembled or maintained for the first time, in the calibration process, the output values corresponding to the zero position and the preset door opening angle are respectively recorded, the minimum value of the angle can be accurately calculated after the door is closed and serves as the zero position value, and then the maximum value is calculated according to the default preset door opening angle, so that the calibration operation is completed.

According to a second aspect of the present invention, there is provided a door control device including: a memory and a processor; a memory for storing the memory; a processor for invoking program code execution: acquiring a driving mode of a door body and rotation information of the door body; and determining whether a control instruction of the door body is generated or not according to the driving mode and the rotation information, wherein the control instruction is used for assisting the door body to be opened and/or closed smoothly.

In this technical scheme, the door body mainly includes two kinds of drive mode, one kind is for rotating the automatic switching of drive door body through the driving motor who connects, and the other kind is through the effect drive door body switching of external force, and the in-process that the drive door body of difference mode opened or closed through the detection to door body rotation information, confirms whether the door body needs door body control to under door body control, accomplish the operation of opening the door or closing the door gently relatively.

The control instruction can be directly applied to the motion control of the door body to realize the smooth opening and/or closing of the door body, the control instruction can also be used for controlling the door body to be switched from an abnormal driving mode to another normal driving mode, and when the other normal driving mode is manual operation, the control instruction is regarded as a motion control instruction indirectly applied to the door body.

In the foregoing technical solution, preferably, the processor is specifically configured to: and under a non-motor driving mode, detecting that the door body is in an acceleration rotation state, and determining to generate a control command.

In any of the above technical solutions, preferably, the processor is specifically configured to: identifying whether the door body is in a door opening stroke or a door closing stroke according to the angle change information of the door body; when the door body is identified to be in the door opening stroke, detecting that the door body is in an accelerated rotation state, and generating a first control instruction, wherein the first control instruction is used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door opening direction according to the preset door opening rotating speed through the motor; the door body is identified to be in a door closing stroke, the door body is detected to be in an accelerated rotation state, a second control instruction is generated, and the second control instruction is used for switching the driving mode into a motor driving mode so as to rotate towards a door closing direction according to a preset door closing rotating speed through the motor driving door body.

In any of the above technical solutions, preferably, the processor is specifically configured to: the door opening stroke of the door body has an accelerated rotation state, and before the door closing stroke of the corresponding door body is executed, a third control instruction is generated and used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door closing direction according to the preset door closing rotating speed through the motor.

In any of the above technical solutions, preferably, the processor is specifically configured to: under a non-motor driving mode, if the door opening action of the door body is detected and the door opening angle of the door body does not reach the preset door opening angle after the preset time, generating a fourth control instruction, wherein the fourth control instruction is used for switching the driving mode into a motor driving mode and controlling the door body to rotate to the preset door opening angle according to the preset door opening rotating speed; if the door closing action of the door body is detected, and the door opening angle of the door body does not reach the preset door opening angle after the preset time length, a fifth control instruction is generated and used for switching the driving mode into the motor driving mode and controlling the door body to be closed according to the preset door closing rotating speed.

In any of the above technical solutions, preferably, the processor is specifically configured to: under the non-motor driving mode and under the condition that door opening rotation information of the door body is detected, whether the maintaining time of the door body in the door opening state is larger than or equal to a preset time threshold value or not is detected; and determining to generate a sixth control instruction under the condition that the detected opening duration is greater than or equal to the preset duration threshold, wherein the sixth control instruction is used for controlling the door body to be closed through the motor drive.

In any one of the above technical solutions, preferably, the driving motor is connected to the door body through a multi-stage transmission mechanism, the multi-stage transmission mechanism realizes transmission cooperation through a clutch device, and the processor is specifically configured to: and under the motor driving mode, determining whether to generate a control command according to the relation between the rotating speed of the door body and a preset rotating speed threshold value.

In any of the above technical solutions, preferably, the processor is specifically configured to: and when the rotating speed of the door body is detected to be larger than the upper limit speed threshold or smaller than the lower limit speed threshold, controlling to generate a seventh control instruction, wherein the seventh control instruction is used for controlling a driving motor of the door body to stop running and releasing the clutch device.

In any of the above technical solutions, preferably, the processor is specifically configured to: in the door opening process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door opening angle fed back by the angle sensor in real time; and controlling the driving motor to stop running under the condition that the difference value between the detected door opening angle and the preset door opening angle is smaller than or equal to the preset redundant angle threshold value.

In any of the above technical solutions, preferably, the processor is specifically configured to: in the door closing process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door closing angle fed back by the angle sensor in real time; and detecting that the door closing angle reaches 0 degrees, and controlling the driving motor to continuously rotate for preset redundant time.

Wherein, preferably, the preset redundant angle threshold is 2 degrees.

In the normal door closing stroke, whether the door body is closed in place is determined through the detection of the angle, when the condition that the duration of the door closing stroke reaches the preset time threshold value is detected, the door closing operation is executed for a short time in a prolonged mode, the time length is the preset redundant time threshold value, the cooperation between the door body and the equipment can be closer through the measures, and the reliability of the door closing control of the equipment and the use experience of a user can be improved.

In the process of electrically opening and closing the door, the sampling values of the angles have certain difference due to reading time, so that when the door is opened and the preset door opening angle is about to be reached, the absolute value of the difference value between the current acquisition value and the preset door opening angle is controlled, when the absolute value of the difference value between the current acquisition value and the preset door opening angle is less than 2 degrees, the door can be considered to be in place, and the driving is stopped. In order to ensure the reliability of door closing, the door can be driven for 0.5 second more (only a preferable reference value can be set according to the control effect of the whole machine) after the action is finished, and the door can be tightly closed by giving surplus driving.

In any of the above technical solutions, preferably, the processor is specifically configured to: and under the condition of generating the control instruction, generating door body control prompt information to prompt a user to enter a door body control state corresponding to the control instruction.

In any one of the above technical scheme, preferably, be provided with angle sensor in the pivot of the door body, be provided with the electro-magnet that detects the angle with the angle sensor cooperation on the arbitrary drive assembly on the multistage drive mechanism, the treater specifically is used for: respectively recording a first output value of the angle sensor when the door body is in a closed state and a second output value of the angle sensor when the door body is in a preset door opening angle; and correcting the output value of the closed state to be a zero value, and correcting the output value of the preset door opening angle to be a difference value between the second output value and the first output value.

According to an aspect of the third aspect of the present invention, there is also provided a refrigeration apparatus, including: the interface testing apparatus according to any of the above second aspects.

According to an aspect of the fourth aspect of the present invention, there is further provided a computer-readable storage medium, on which a computer program is stored, the computer program, when executed, implementing the control method defined in any one of the aspects of the first aspect.

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 to 3 are schematic structural views illustrating a refrigerator and a door driving mechanism on the refrigerator according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart diagram illustrating a method of controlling a door body according to one embodiment of the present disclosure;

fig. 5 is a schematic flowchart illustrating a control method of a door body according to another embodiment of the present invention;

fig. 6 is a schematic flowchart illustrating a control method of a door body according to still another embodiment of the present invention;

fig. 7 is a schematic flowchart illustrating a control method of a door body according to still another embodiment of the present invention;

fig. 8 is a schematic block diagram illustrating a control apparatus of a door body according to an embodiment of the present invention.

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.

The door body control scheme of the door body in this application is suitable for the refrigerator 1 as shown in fig. 1, the refrigerator 1 is provided with a door opening device, and as shown in fig. 1 to 3, the door opening driving mechanism 10 specifically includes: the refrigerator comprises a front-stage gear set positioned at the end of a driving motor, a rear-stage gear set positioned at the end of an output shaft 104 and a clutch device used for transmission fit between the front-stage gear set and the rear-stage gear set, wherein the clutch device and the driving motor are powered simultaneously, namely after the power is on, the front-stage gear set and the rear-stage gear set are meshed with a clutch gear in the clutch device, so that the torque of the driving motor is transmitted to the output shaft 104, and the output shaft 104 is fixedly connected with a door shaft of the refrigerator 1, and then the door is automatically closed.

After the door body is automatically closed, if the driving motor does not supply power, the driving motor is in a power-off state, and the clutch device is disengaged, so that the door body of the refrigerator 1 can be manually driven to open and close.

When the driving motor and the clutch electromagnet are powered on, the clutch device works immediately, the motor rotates slowly to engage the gear, then the driving motor rotates in a rated mode to open the door automatically, when the driving motor and the clutch electromagnet are powered off, the clutch electromagnet is powered off immediately, and the rotating speed of the driving motor is reduced rapidly so that the gear can be disconnected smoothly.

The angle sensor 102 is arranged, the magnet 108 arranged at the lower end of the door shaft and the angle sensor 102 arranged at the upper end of the door shaft are combined with a dynamic calibration method to preset the door opening angle, so that a user can electrically open and close the door according to the preset angle and stay at the larger preset angle. And meanwhile, the change of the angular speed is calculated according to the change condition of the angle, and if abnormal blockage exists or manual access operation exists, rapid and accurate identification is carried out.

The device is internally provided with a driving motor, a transmission assembly 106 (comprising a plurality of transmission gears) and a clutch device. The angle sensor 102 is fixed directly above one of the gears, and a permanent magnet 108 is placed on the detection gear. When the motor drives the door body to rotate, the angle sensor 102 has corresponding data changes, the rotating directions are different, and the data show the trend of increasing and decreasing.

The driving mechanism 10 is connected with the door through a door shaft, a plurality of stages of gears can transmit torsion in the driving mechanism 10, combination and separation of the gears are realized through electronic clutch, electric driving is realized, and manual operation of a user is not influenced. An angle sensor 102 is disposed on the drive mechanism 10 for detecting a change in the door opening angle.

As shown in fig. 3, the position of the magnet is designed to be mounted on the gear adjacent to the door shaft output shaft 104, the magnet 108 is fixed on the gear through the magnet fixing sleeve 110 (preferably, the magnet is placed in a concave manner), and when the transmission ratio of the gear of the output shaft 104 is equal to the transmission ratio of the adjacent gear, the angle information read by the angle sensor 102 is the angle information of the door of the refrigerator 1.

In addition, because the gear where the magnet 108 is located cannot limit the position, the magnetic pole direction is random before the refrigerator system is assembled, and fool-proofing is not good. Therefore, after the output mechanism and the door body are fixed, the minimum value (also called zero position) of the door closing angle needs to be determined, and the maximum limit value of the preset door opening angle needs to be reached. When the refrigerator 1 is first assembled, repaired or otherwise needs to be calibrated. The motor runs towards the door closing direction by artificially ensuring that no shielding object exists in the advancing path area of the opening and closing door, the value of the calibration drive is changed to be larger than the maximum opening angle of the door, part of the calibration drive is surplus to rotate, the minimum angle (zero angle parameter value) can be accurately calculated after the door is closed, and then the maximum value can be calculated according to the default preset opening angle.

The first embodiment is as follows:

fig. 4 shows a schematic flow chart of a control method of a door body according to an embodiment of the invention.

As shown in fig. 4, the method for controlling a door according to the present invention includes: step S402, acquiring a driving mode of the door body and rotation information of the door body; and step S404, determining whether a control instruction of the door body is generated or not according to the driving mode and the rotation information, wherein the control instruction is used for assisting the door body to be opened and/or closed smoothly.

In this embodiment, the door body mainly includes two kinds of drive modes, one kind is for rotating the automatic switching of drive door body through the driving motor who connects, and the other kind is through the effect drive door body switching of external force, and in the in-process that the drive door body of difference mode opened or closed, through the detection to door body rotation information, whether the door body needs door body control to under door body control, accomplish the operation of opening the door or closing the door gently relatively, thereby be favorable to promoting door body on-off control's automation level.

The door body control scheme of the door body is described below from a non-motor driving mode and a motor driving mode respectively.

Example two:

in a non-motor driving mode, in the above embodiment, preferably, determining whether to generate a control command for the door body according to the driving mode and the rotation information includes: and under a non-motor driving mode, detecting that the door body is in an acceleration rotation state, and determining to generate a control command.

In this embodiment, for an application scenario in which the door body is not driven by the motor, that is, manually driven, whether the door body is rotated abnormally or not may be determined by detecting whether the door body is rotated in an accelerated rotation state or not, so that when the door body is rotated abnormally under the manual driving, a control instruction is generated in real time.

In any of the above embodiments, preferably, in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically includes: identifying whether the door body is in a door opening stroke or a door closing stroke according to the angle change information of the door body; when the door body is identified to be in the door opening stroke, detecting that the door body is in an accelerated rotation state, and generating a first control instruction, wherein the first control instruction is used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door opening direction according to the preset door opening rotating speed through the motor; the door body is identified to be in a door closing stroke, the door body is detected to be in an accelerated rotation state, a second control instruction is generated, and the second control instruction is used for switching the driving mode into a motor driving mode so as to rotate towards a door closing direction according to a preset door closing rotating speed through the motor driving door body.

In this embodiment, for an application scenario of non-motor drive, that is, manual drive, further, a change of the angle of the door body may be detected by the angle sensor, so as to determine that the door body is currently in the door opening stroke or the door closing stroke through the change of the angle of the door body, and when a speed abnormality is detected in a specific stroke, generate corresponding control instructions for different strokes, specifically, for a door body rotational speed abnormality phenomenon in the door opening stroke, generate a first control instruction for controlling the driving motor to drive the door body to continue to open the door, and for the door body rotational speed abnormality phenomenon in the door closing stroke, generate a second control instruction for controlling the driving motor to drive the door body to continue to close, where the first control instruction and the second control instruction are both switched within the same stroke when the rotational speed abnormality is found, that is, in the door opening operation is finally completed through the control of the first control instruction in the door opening stroke, in the door closing stroke, the door closing operation is finally completed through the control of the second control instruction, on one hand, the switching between the manual driving mode and the automatic driving mode in the same stroke is realized, and on the other hand, the stable door opening and closing operation is realized through the manual door opening and closing process of an intervention user, so that the use experience of the user is improved.

In any of the above embodiments, preferably, in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically includes: the door opening stroke of the door body has an accelerated rotation state, and before the door closing stroke of the corresponding door body is executed, a third control instruction is generated and used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door closing direction according to the preset door closing rotating speed through the motor.

In this embodiment, in order to further improve the reliability of the door body control, for a group of door opening and closing operations, when the abnormality of the manual door opening operation in the first half is detected, the corresponding second half operation may be switched to the automatic gentle door closing operation by generating the third control instruction, so as to implement the function of performing the second half door closing starting operation based on the speed abnormality in the first half, so as to reduce the probability of a large collision between the door body and the cabinet body.

Example three:

in any of the above embodiments, preferably, in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command, the method specifically further includes: under a non-motor driving mode, if the door opening action of the door body is detected and the door opening angle of the door body does not reach the preset door opening angle after the preset time, generating a fourth control instruction, wherein the fourth control instruction is used for switching the driving mode into a motor driving mode and controlling the door body to rotate to the preset door opening angle according to the preset door opening rotating speed; if the door closing action of the door body is detected, and the door opening angle of the door body does not reach the preset door opening angle after the preset time length, a fifth control instruction is generated and used for switching the driving mode into the motor driving mode and controlling the door body to be closed according to the preset door closing rotating speed.

In this embodiment, whether the control command is generated or not may also be determined through detection of an opening trend or a closing trend, where it can be understood by those skilled in the art that, regardless of the opening rotation trend or the closing rotation trend, the opening motion has been detected but a sufficient opening angle is not opened in the closing state, or the closing motion has been detected but the closing operation has not been completed in the opening state, in this case, if the trend state is maintained for a preset time period, the corresponding control command may be generated to assist the opening operation in the opening trend or assist the closing operation in the closing trend, so as to increase the intelligence level of the opening and closing door control, and the assist operation is performed through recognition of the user's intention, on one hand, the probability that the user forgets to open or close the door can be reduced, on the other hand, the operation steps of the user are also saved.

The third embodiment is further described with reference to fig. 5.

As shown in fig. 5, a control method of a door body according to an embodiment of the present invention includes:

502, detecting a door body rotation angle through an angle sensor by a controller, and determining door body rotation information through the door body rotation angle;

step 504, detecting whether the door body is in a motor driving mode, entering step 518 when the detection result is yes, and entering step 506 when the detection result is no;

step 506, determining the state of the door body according to the angle change of the door body;

step 508, detecting whether the door body is in an open state, entering step 510 when the detection result is yes, and entering step 514 when the detection result is no;

step 510, recording the elapsed time after detecting the door closing trend;

step 512, after the preset time duration is detected, the clutch device is connected through the control module, and the driving motor is controlled to drive the door body to be closed stably along the door closing direction;

step 514, recording the elapsed time after the door opening trend is detected;

step 516, after the preset time duration is detected, the clutch device is connected through the control module, and the driving motor is controlled to drive the door body to stably open the door along the door opening direction;

and step 518, driving the door body to open and close by adopting a motor.

Example four:

in any of the above embodiments, preferably, the driving motor is connected to the door body through a multi-stage transmission mechanism, the multi-stage transmission mechanism realizes transmission coordination through a clutch device, and determines whether to generate a control command for the door body according to the driving mode and the rotation information, and specifically, the method further includes: under the non-motor driving mode and under the condition that door opening rotation information of the door body is detected, whether the maintaining time of the door body in the door opening state is larger than or equal to a preset time threshold value or not is detected; and determining to generate a sixth control instruction under the condition that the detected opening duration is greater than or equal to the preset duration threshold, wherein the sixth control instruction is used for controlling the door body to be closed through the motor drive.

In this embodiment, in a manual driving manner, a situation that the door is forgotten to be closed or the door is not completely closed exists, at this time, the rotating speed of the door body is zero, in this situation, a duration of the zero rotating speed of the door body is detected, so that a sixth control instruction is generated when it is detected that the duration of the duration is greater than or equal to a preset duration threshold, so as to control the door body to be automatically closed through the sixth control instruction, thereby achieving auxiliary intervention in a situation that the user forgets to close the door or the door is not closed tightly, ensuring a refrigeration effect of the refrigeration equipment, and preventing waste of energy.

Example five:

in the motor driving mode, in any of the above embodiments, preferably, determining whether to generate a control command for the door body according to the driving mode and the rotation information includes: and under the motor driving mode, determining whether to generate a control command according to the relation between the rotating speed of the door body and a preset rotating speed threshold value.

In the embodiment, in an application scenario of implementing automatic driving by operating the driving motor, the driving motor controls the door body to rotate at a constant speed according to a received control instruction so as to implement stable door opening and closing operation, and compares the actual rotating speed with a preset rotating speed threshold value through a preset rotating speed threshold value, thereby determining whether the actual rotating speed is abnormal, and generating the control instruction under the condition of detecting that the rotating speed is abnormal so as to correct the abnormal rotating speed through the control instruction, thereby ensuring the controllability of door opening and closing operation.

In any of the foregoing embodiments, preferably, determining whether to generate a control command according to a relationship between a rotation speed of the door body and a preset rotation speed threshold specifically includes: and when the rotating speed of the door body is detected to be larger than the upper limit speed threshold or smaller than the lower limit speed threshold, controlling to generate a seventh control instruction, wherein the seventh control instruction is used for controlling a driving motor of the door body to stop running and releasing the clutch device.

In this embodiment, in a scenario where the motor drives the door to rotate, a speed interval of a normal rotation speed of the door is formed by presetting an upper limit speed threshold and a lower limit speed threshold, when it is detected that the rotation speed of the door is in the speed interval, the door can be considered to be normally opened and closed, and when it is detected that the rotation speed of the door is less than or equal to the lower limit speed threshold or greater than or equal to the upper limit speed threshold, it indicates that the driving mechanism (at least including the driving motor, the transmission mechanism, the clutch device, and the like) itself has abnormal operation or abnormal external interference, at this time, in order to prevent the driving mechanism from abnormal operation and abnormal deterioration, the driving mechanism needs to be closed in time, that is, the driving mechanism needs to be closed by generating a seventh control command, so as to switch from the automatic driving mode to the manual driving mode, and complete, therefore, the probability of the door body being opened and/or closed smoothly is improved while the probability of electrical abnormity of the refrigeration equipment is reduced.

The technical solution in the fifth embodiment is further described below with reference to fig. 6.

As shown in fig. 6, a control method of a door body according to an embodiment of the present invention includes:

step 602, reading the value of the angle sensor in real time, calculating the variable quantity of the angle value according to a certain time interval, and calculating the angular speed;

step 604, setting an upper limit speed threshold value Vmax and a lower limit speed threshold value Vmin for judging the abnormal angular speed;

step 606, in the process of electrically opening or closing the door, detecting that the angular velocity is greater than Vmax or less than Vmin, if the detection result is yes, entering step 608, and if the detection result is no, entering step 614;

step 608, recording the count value of the continuous abnormity, and accumulating;

step 610, the angular velocity continuous abnormal count value is greater than the preset number, if the detection result is yes, the step 612 is entered, and if the detection result is no, the step 608 is returned;

step 612, the door opening or closing driving process is suspended, and the motor and the clutch power supply are turned off;

and 614, normally executing the driving control of door opening or door closing to enable the motor and the clutch to work until the target angle is reached.

Example six:

in order to improve the reliability of the open/close door control in the motor driving mode, in any of the above embodiments, it is preferable that the method further includes: in the door opening process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door opening angle fed back by the angle sensor in real time; and controlling the driving motor to stop running under the condition that the difference value between the detected door opening angle and the preset door opening angle is smaller than or equal to the preset redundant angle threshold value.

In any of the above embodiments, preferably, the method further includes: in the door closing process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door closing angle fed back by the angle sensor in real time; and detecting that the door closing angle reaches 0 degrees, and controlling the driving motor to continuously rotate for preset redundant time.

In the embodiment, in order to ensure the door opening and closing effect in the motor driving mode, in a normal door opening stroke, whether the door body is in place or not is determined through detecting the angle, and the driving motor is controlled to stop running under the condition that the difference value between the detected door opening angle and the preset door opening angle is smaller than or equal to the preset redundant angle threshold value so as to indicate that the current door opening is in place, so that the difference detected by the angle sensor is compensated, and the reliability of door opening control is improved.

Wherein, preferably, the preset redundant angle threshold is 2 degrees.

In any of the above embodiments, preferably, the method further includes: and under the condition of generating the control instruction, generating door body control prompt information to prompt a user to enter a door body control state corresponding to the control instruction.

In this embodiment, based on the above discussion, it may be considered that the essence of the control command is to switch between the motor driving mode and the manual driving mode, in order to ensure that the user knows the switching operation between the different current modes, when entering the control state corresponding to the control command, a corresponding prompt tone is generated to prompt the user to have the switching operation, so that when the motor driving mode is switched to the manual driving, the user is prompted to perform the manual operation, and when the manual driving is switched to the motor driving, the user is prompted to apply no external force, thereby ensuring smooth execution of the control command.

The technical solution in the sixth embodiment is further described below with reference to fig. 7.

As shown in fig. 7, a control method of a door body according to an embodiment of the present invention includes:

step 702, detecting a control request of a door body in a motor driving mode;

step 704, when detecting a request for electrically closing the door, controlling the driving motor and the clutch device to work, driving in the door closing direction, and detecting the feedback value of the current angle sensor in real time;

step 706, when the current feedback value reaches 0 °, if the detection result is yes, the step 708 is entered, and if the detection result is no, the step 704 is returned;

step 708, continuing surplus driving for 0.5 second;

step 710, when detecting a request for opening the door electrically, controlling a driving motor and a clutch device to work, driving according to the door opening direction, and detecting the feedback value of the current angle sensor in real time;

step 712, the difference between the current feedback value and the preset maximum door opening angle is less than 2 °, if the detection result is yes, the step 714 is entered, and if the detection result is no, the step 710 is returned to;

at 714, the drive is stopped and the clutch is disengaged after a brief pause so that it can be manually operated by the user.

In any of the above embodiments, preferably, an angle sensor is disposed on a rotating shaft of the door body, an electromagnet that cooperates with the angle sensor to detect an angle is disposed on any transmission assembly on the multi-stage transmission mechanism, and before determining whether to generate a control instruction of the door body according to the driving mode and the rotation information, the method further includes: respectively recording a first output value of the angle sensor when the door body is in a closed state and a second output value of the angle sensor when the door body is in a preset door opening angle; and correcting the output value of the closed state to be a zero value, and correcting the output value of the preset door opening angle to be a difference value between the second output value and the first output value.

In this embodiment, before the door body is assembled to the cabinet body, the magnetic pole directions are random and are not good for fool-proofing, so that after the driving motor and the multi-stage transmission mechanism are respectively and movably fixed relative to the door body, the minimum value (also called as zero position) of the door closing angle needs to be determined, and the maximum limit value of the preset door opening angle is reached, calibration is needed when the refrigerator is assembled or maintained for the first time, in the calibration process, the output values corresponding to the zero position and the preset door opening angle are respectively recorded, it is ensured that the minimum value of the angle can be accurately calculated as a zero position value after the door is closed, and then the maximum value is calculated according to the default preset door opening angle, so as to complete the calibration operation.

Example seven:

as shown in fig. 8, a control apparatus 800 for a door according to an embodiment of the present invention includes: a memory 802 and a processor 804; a memory 802 for storing the memory 802 for storing program code; a processor 804 for invoking program code to perform:

acquiring a driving mode of a door body and rotation information of the door body; and determining whether a control instruction of the door body is generated or not according to the driving mode and the rotation information, wherein the control instruction is used for assisting the door body to be opened and/or closed smoothly.

In this embodiment, the door body mainly includes two kinds of drive modes, one kind is for rotating the automatic switching of drive door body through the driving motor who connects, and the other kind is through the effect drive door body switching of external force, and in the process that different drive modes drive the door body and open or close, through the detection to door body rotation information, whether the door body needs door body control to under door body control, accomplish the operation of opening the door or closing the door gently relatively.

In the foregoing embodiment, preferably, the processor 804 is specifically configured to: and under a non-motor driving mode, detecting that the door body is in an acceleration rotation state, and determining to generate a control command.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: identifying whether the door body is in a door opening stroke or a door closing stroke according to the angle change information of the door body; when the door body is identified to be in the door opening stroke, detecting that the door body is in an accelerated rotation state, and generating a first control instruction, wherein the first control instruction is used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door opening direction according to the preset door opening rotating speed through the motor; the door body is identified to be in a door closing stroke, the door body is detected to be in an accelerated rotation state, a second control instruction is generated, and the second control instruction is used for switching the driving mode into a motor driving mode so as to rotate towards a door closing direction according to a preset door closing rotating speed through the motor driving door body.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: the door opening stroke of the door body has an accelerated rotation state, and before the door closing stroke of the corresponding door body is executed, a third control instruction is generated and used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards the door closing direction according to the preset door closing rotating speed through the motor.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: under a non-motor driving mode, if the door opening action of the door body is detected and the door opening angle of the door body does not reach the preset door opening angle after the preset time, generating a fourth control instruction, wherein the fourth control instruction is used for switching the driving mode into a motor driving mode and controlling the door body to rotate to the preset door opening angle according to the preset door opening rotating speed; if the door closing action of the door body is detected, and the door opening angle of the door body does not reach the preset door opening angle after the preset time length, a fifth control instruction is generated and used for switching the driving mode into the motor driving mode and controlling the door body to be closed according to the preset door closing rotating speed.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: under the non-motor driving mode and under the condition that door opening rotation information of the door body is detected, whether the maintaining time of the door body in the door opening state is larger than or equal to a preset time threshold value or not is detected; and determining to generate a sixth control instruction under the condition that the detected opening duration is greater than or equal to the preset duration threshold, wherein the sixth control instruction is used for controlling the door body to be closed through the motor drive.

In any of the above embodiments, preferably, the driving motor is connected to the door body through a multi-stage transmission mechanism, the multi-stage transmission mechanism realizes transmission matching through a clutch device, and the processor 804 is specifically configured to: and under the motor driving mode, determining whether to generate a control command according to the relation between the rotating speed of the door body and a preset rotating speed threshold value.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: and when the rotating speed of the door body is detected to be larger than the upper limit speed threshold or smaller than the lower limit speed threshold, controlling to generate a seventh control instruction, wherein the seventh control instruction is used for controlling a driving motor of the door body to stop running and releasing the clutch device.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: in the door opening process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door opening angle fed back by the angle sensor in real time; and controlling the driving motor to stop running under the condition that the difference value between the detected door opening angle and the preset door opening angle is smaller than or equal to the preset redundant angle threshold value.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: in the door closing process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door closing angle fed back by the angle sensor in real time; and detecting that the door closing angle reaches 0 degrees, and controlling the driving motor to continuously rotate for preset redundant time.

Wherein, preferably, the preset redundant angle threshold is 2 degrees.

In any of the above embodiments, preferably, the processor 804 is specifically configured to: and under the condition of generating the control instruction, generating door body control prompt information to prompt a user to enter a door body control state corresponding to the control instruction.

In any of the above embodiments, preferably, an angle sensor is provided on a rotating shaft of the door body, an electromagnet that cooperates with the angle sensor to detect an angle is provided on any transmission assembly on the multistage transmission mechanism, and the processor is specifically configured to: respectively recording a first output value of the angle sensor when the door body is in a closed state and a second output value of the angle sensor when the door body is in a preset door opening angle; and correcting the output value of the closed state to be a zero value, and correcting the output value of the preset door opening angle to be a difference value between the second output value and the first output value.

Example eight:

a refrigeration device according to an embodiment of the invention comprises: such as the control device 800 described in the embodiments above.

Example nine:

a computer-readable storage medium according to an embodiment of the present invention, has a computer program stored thereon, which when executed, implements the steps described in any of the above-described control methods.

The steps in the method of the invention can be sequentially adjusted, combined and deleted according to actual needs.

The units in the device of the invention can be merged, divided and deleted according to actual needs.

The technical scheme of the invention is described in detail with reference to the drawings, and according to the technical scheme of the invention, whether a control instruction of the door body is generated or not is determined based on the driving mode and the detection of the rotating speed of the door body, on one hand, the probability of abnormal opening and closing of the door body can be reduced, so that the impact probability of abnormal external force on the refrigeration equipment is reduced, the normal operation of a moving part in the refrigeration equipment is ensured, the service life of the whole refrigeration equipment is further prolonged, on the other hand, the abnormal condition of the door is detected based on the rotating speed, and the auxiliary treatment is carried out on the abnormal condition, so that the stable door opening and closing process is realized, and the controllability of the door opening and closing process is further improved, and the reliability.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

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

1. A control method of a door body, wherein the door body can be driven to rotate by a driving motor so as to open or close a corresponding cabinet body, is characterized by comprising the following steps:

acquiring a driving mode of the door body and rotation information of the door body;

and determining whether a control instruction of the door body is generated or not according to the driving mode and the rotation information, wherein the control instruction is used for assisting the door body to be opened and/or closed smoothly.

2. The control method according to claim 1, wherein the determining whether to generate the control command for the door body according to the driving mode and the rotation information specifically includes:

and under a non-motor driving mode, detecting that the door body is in an acceleration rotation state, and determining to generate the control command.

3. The control method according to claim 2, wherein in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically includes:

identifying whether the door body is in a door opening stroke or a door closing stroke according to the angle change information of the door body;

if the door body is in a door opening stroke and in the accelerated rotation state, generating a first control instruction, wherein the first control instruction is used for switching the driving mode into a motor driving mode so as to drive the door body to rotate towards a door opening direction according to a preset door opening rotating speed through the motor;

and if the door body is in a door closing stroke and in the accelerated rotation state, generating a second control instruction, wherein the second control instruction is used for switching the driving mode into the motor driving mode so as to drive the door body to rotate towards the door closing direction according to a preset door closing rotation speed through the motor.

4. The control method according to claim 2, wherein in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically comprises:

recognizing that an accelerated rotation state exists in the door opening stroke of the door body, and generating a third control instruction before executing the corresponding door closing stroke of the door body, wherein the third control instruction is used for switching the driving mode into the motor driving mode so as to drive the door body to rotate towards the door closing direction according to a preset door closing rotating speed through the motor.

5. The control method according to claim 2, wherein in the non-motor drive mode, detecting that the door body is in an accelerated rotation state, and determining to generate the control command specifically includes:

in a non-motor driving mode, if the door opening action of the door body is detected and the door opening angle of the door body does not reach a preset door opening angle after a preset time, generating a fourth control instruction, wherein the fourth control instruction is used for switching the driving mode into a motor driving mode and controlling the door body to rotate to the preset door opening angle according to a preset door opening rotating speed;

and if the door closing action of the door body is detected and the door opening angle of the door body does not reach the preset door opening angle after the preset time length, generating a fifth control instruction, wherein the fifth control instruction is used for switching the driving mode into a motor driving mode and controlling the door body to be closed according to the preset door closing rotating speed.

6. The control method according to claim 1, wherein the determining whether to generate the control command for the door body according to the driving mode and the rotation information specifically includes:

and under a non-motor driving mode, detecting that the maintaining time of the door body in the door opening state is greater than or equal to a preset time threshold, and determining to generate a sixth control instruction, wherein the sixth control instruction is used for controlling the door body to be closed through the motor driving.

7. The control method according to claim 1, wherein the driving motor is connected to the door body through a multi-stage transmission mechanism, the multi-stage transmission mechanism is in transmission fit through a clutch device, and the determining whether to generate the control command of the door body according to the driving mode and the rotation information specifically includes:

and under the motor driving mode, determining whether to generate the control instruction according to the relation between the rotating speed of the door body and a preset rotating speed threshold value.

8. The control method according to claim 7, wherein the determining whether to generate the control command according to the relationship between the rotating speed of the door body and a preset rotating speed threshold specifically comprises:

and controlling to generate a seventh control instruction when the rotating speed of the door body is detected to be greater than the upper limit speed threshold or less than the lower limit speed threshold, wherein the seventh control instruction is used for controlling a driving motor of the door body to stop running and releasing the clutch device.

9. The control method according to claim 8, characterized by further comprising:

in the door opening process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door opening angle fed back by the angle sensor in real time;

and controlling the driving motor to stop running when the difference value between the door opening angle and the preset door opening angle is detected to be smaller than or equal to the preset redundant angle threshold value.

10. The control method according to claim 8, characterized by further comprising:

in the door closing process, detecting that the rotating speed of the door body is less than or equal to the upper limit speed threshold and greater than or equal to the lower limit speed threshold, and detecting the door closing angle fed back by the angle sensor in real time;

and detecting that the door closing angle reaches 0 degrees, and controlling the driving motor to continuously rotate for a preset redundant time.

11. The control method according to any one of claims 1 to 10, characterized by further comprising:

and if the control instruction is generated, generating door body control prompt information to prompt a user to enter a door body control state corresponding to the control instruction.

12. The control method according to any one of claims 7 to 10, wherein an angle sensor is provided on a rotating shaft of the door body, an electromagnet that cooperates with the angle sensor to detect an angle is provided on any transmission assembly on the multistage transmission mechanism, and before determining whether to generate a control command for the door body according to the driving mode and the rotation information, the method further includes:

respectively recording first output values of the angle sensors when the door body is in a closed state, and

the door body is at a second output value of the angle sensor under a preset door opening angle;

and correcting the output value of the closed state to be a zero-bit value, and correcting the output value of the preset door opening angle to be a difference value between the second output value and the first output value.

13. The utility model provides a controlling means of door body, door body can rotate through the driving motor drive to open or the closed cabinet body of combination, its characterized in that, controlling means includes: a memory and a processor;

the memory for storing program code;

the processor is used for calling the program codes to execute: the steps defined in the control method for the door body according to any one of claims 1 to 12.

14. A refrigeration apparatus, comprising:

the control device of claim 13.

15. A computer-readable storage medium, on which an article handling program is stored, characterized in that the article handling program, when executed by a processor, implements the control method according to any one of claims 1 to 12.