Method, apparatus and home appliance for opening door of home appliance

Abstract

The application relates to the technical field of intelligent household appliance control, and discloses a method for opening a door of a household appliance. By obtaining a gesture image of a user collected by an identification module, the direction indicated by the hand of the user in the gesture image can be determined. Then, by the direction indicated by the hand, the target door body intended to be opened by the user is determined. Therefore, by obtaining an opening control instruction of the target door body, the user can still realize gesture control on the target door body of the household appliance without touching the door body. The method avoids the case that the household appliance with multiple door bodies is provided with multiple identification modules, saves manufacturing cost while facilitating user use. Meanwhile, the method also solves the problem that when the hand of the user is inconvenient to touch the door body of the household appliance, the target door body of the household appliance can still be opened, and accurate control is realized. The application further discloses a device for opening a door of a household appliance and a household appliance.

Description

Technical Field

[0001] This application relates to the field of smart home appliance control technology, such as a method, apparatus, and home appliance for opening doors of home appliances. Background Technology

[0002] With the development of smart home appliance technology, human-computer interaction has taken on various forms. Traditional human-computer interaction includes mechanical button control and touch control. In recent years, with continuous technological advancements, some new control technologies have gradually come into view, such as voice control and gesture control. Among them, gesture control technology refers to an interactive technology that allows users to achieve corresponding controls without touching any device. Because it is free from the limitations of touch and buttons, gesture control is more convenient than traditional contact-based touch control.

[0003] With the increasing functionality and size of home appliances, dividing their interiors into different zones for various storage and control functions has become a popular choice for many users. To ensure the airtightness of these different zones, engineers have installed sealed doors. Furthermore, to enable door opening control, gesture recognition modules are incorporated into each door during manufacturing. However, this increased gesture recognition module size raises assembly costs. Therefore, achieving gesture control for target doors while simultaneously reducing assembly costs has become a pressing technical challenge. Summary of the Invention

[0004] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0005] This disclosure provides a method, apparatus, and appliance for controlling the opening of home appliances, thereby solving the technical problem of reducing the assembly cost of home appliance manufacturing while controlling the target door gesture of the home appliance.

[0006] In some embodiments, the method includes: obtaining a user gesture image collected by a recognition module, wherein the recognition module is located at a critical position of adjacent doors and is shared by adjacent doors; determining the adjacent doors associated with the recognition module as selectable doors; determining a target door from the selectable doors based on the direction information of the user's hand indication extracted from the user gesture image; generating an opening control command for opening the target door, and performing opening control on the target door.

[0007] In some embodiments, the apparatus includes: an acquisition module configured to acquire a user gesture image collected by a recognition module, the recognition module being located at a critical position of adjacent doors and shared by adjacent doors; a selectable door determination module configured to determine adjacent doors associated with the recognition module as selectable doors; a target door determination module configured to determine a target door from the selectable doors based on the direction information of the user's hand gesture extracted from the user gesture image; and a control module configured to generate an opening control command for opening the target door and to control the opening of the target door.

[0008] In some embodiments, the apparatus includes a processor and a memory storing program instructions, wherein the processor is configured to execute the aforementioned method for opening a door of a home appliance when executing the program instructions.

[0009] In some embodiments, the home appliance includes the aforementioned means for opening the door of the home appliance.

[0010] The door opening method, apparatus, and appliance provided in this disclosure can achieve the following technical effects: By obtaining a user's gesture image captured by the recognition module, the direction of the user's hand indication can be determined from the gesture image. Then, based on the direction of the hand indication, the target door that the user wants to open can be determined. Thus, the door opening control command corresponding to the target door can be obtained, and the door can be opened by the user through gesture control without touching the door. Furthermore, multiple doors can share a single recognition module, which can minimize manufacturing costs without affecting the door opening control.

[0011] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0012] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0013] Figure 1 This is a schematic diagram of a method for opening a door of a household appliance provided in an embodiment of this disclosure;

[0014] Figure 2 This is a schematic diagram of a first image above a second image provided in an embodiment of this disclosure;

[0015] Figure 3 This is a schematic diagram of a first image below a second image provided in an embodiment of this disclosure;

[0016] Figure 4 This is a schematic diagram of a target door provided in an embodiment of this disclosure;

[0017] Figure 5 This is a schematic diagram of a device for opening the door of a household appliance provided in an embodiment of this disclosure;

[0018] Figure 6 This is a schematic diagram of a device for opening the door of a household appliance, provided in an embodiment of this disclosure. Detailed Implementation

[0019] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0020] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0021] Unless otherwise stated, the term "multiple" means two or more.

[0022] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0023] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0024] Figure 1 This is a schematic diagram of a method for opening a door of a household appliance provided in this disclosure embodiment, combined with... Figure 1 As shown, this disclosure provides a method for opening a door of a home appliance, including:

[0025] S11, Obtain the user gesture image collected by the recognition module.

[0026] S12, the adjacent doors associated with the identification module are identified as selectable doors.

[0027] S13, determine the target door from the selectable door bodies based on the direction information of the user's hand gesture extracted from the user's gesture image.

[0028] S14, Generate door opening control instructions for opening the target door, and control the opening of the target door.

[0029] The home appliances in this disclosure can be mobile devices, smart home devices, or any combination thereof. In some embodiments, smart home devices may include, for example, refrigerators, washing machines, disinfection cabinets, freezers, or any combination thereof.

[0030] In step 11, a recognition module is set up on the home appliance. The recognition module collects user gesture images and can obtain the current hand image of the user, thereby recognizing the user's hand image.

[0031] The home appliance can be a device with multiple doors. Examples include refrigerators, washing machines, and disinfection cabinets with multiple doors. The recognition module can be a camera with image acquisition capabilities. In the technical solution provided in this disclosure, the recognition module is placed at the critical position of adjacent doors and shared by both doors, which reduces the number of recognition modules required for the home appliance and effectively reduces the assembly cost.

[0032] In step 12, the adjacent doors associated with the identification module are identified as selectable doors.

[0033] In this solution, if the recognition module is positioned at the critical point between two adjacent vertical doors, the selectable doors can be two doors in the vertical direction. If the recognition module is positioned at the critical point between two adjacent horizontal doors, the selectable doors can be two doors in the horizontal direction. If the recognition module is positioned at the critical point between four adjacent doors, the selectable doors can be the four doors positioned around the recognition module.

[0034] By pre-determining the association between the recognition module and multiple doors, when the user's gesture image is acquired by the recognition module, the door associated with the recognition module can be identified as the optional door that the user wants to control. Then, by combining the direction information of the user's hand gesture, the target door that the user wants to control can be determined from the optional doors.

[0035] If there are four adjacent doors, the recognition module is placed at the critical position of the four adjacent doors and associated with the four adjacent doors. This configuration allows the recognition module to establish a connection with the adjacent doors.

[0036] In step 13, the direction information of the user's hand gesture is extracted from the user's gesture image, and the target door is determined from the selectable door bodies based on the direction information of the hand gesture.

[0037] In this solution, a recognition module identifies user gesture images and extracts the directional information of the user's hand gestures, which is then used to determine the target door. For example, the orientation of the user's palm can be determined from the gesture image, and the direction of the hand gesture can be determined accordingly. The palm orientation can be multiple, such as palm up, palm down, palm left, or palm right. Specifically, the implementation involves the following four scenarios: If the recognition module identifies the user's palm as up, the target door is determined to be the door above the recognition module. If the recognition module identifies the user's palm as down, the target door is determined to be the door below the recognition module. If the recognition module identifies the user's palm as left, the target door is determined to be the door to the left of the recognition module. If the recognition module identifies the user's palm as right, the target door is determined to be the door to the right of the recognition module. By accurately determining the relative position of the target door and the recognition module based on the user's palm orientation, the target door can be selected from the available doors, ensuring accurate recognition results. This allows the home appliances to determine the user's control intention and thus locate the target door, even when the user's hands are not readily available to touch the appliances.

[0038] Alternatively, the relative positional relationship between the user's fingernails and knuckles can be determined based on the user's gesture image, and the direction of the user's hand gesture can be determined accordingly. The specific implementation process can be found in the following introduction, which will not be detailed here.

[0039] In step 14, after the target door is determined, an opening control command can be generated to open the target door and control the opening of the target door.

[0040] The method for home appliances provided in this disclosure allows users to open a target door through gesture control without touching the door. At the same time, multiple doors can share a single recognition module, which can also save manufacturing costs as much as possible without affecting door opening control.

[0041] Optionally, in order to determine the target door among multiple optional door types, embodiments of this disclosure determine the vertical and / or horizontal position of the target door using directional information indicated by the user's hand. The target door is then determined based on its vertical and / or horizontal position.

[0042] In the technical solutions provided in this disclosure, the target door can be determined in the following three ways:

[0043] The first method determines the vertical position of the target door based on the direction indicated by the user's hand gestures. If all selectable doors are adjacent vertically aligned, the target door can be identified based on its vertical position. For example, in a household refrigerator, the top door is the refrigerator door and the bottom door is the freezer door.

[0044] The second method determines the horizontal position of the target door based on the direction indicated by the user's hand gestures. If all selectable doors are adjacent horizontally aligned, the target door can be identified based on its horizontal position. For example, a commercial freezer may contain two horizontally aligned freezer doors.

[0045] The third method determines the horizontal and vertical position of the target door based on the direction indicated by the user's hand gestures. If multiple adjacent doors are available, the target door can be determined based on its horizontal and vertical position. For example, a household refrigerator includes two double-door refrigerator doors at the top and two double-door freezer doors at the bottom.

[0046] This solution ensures the accuracy of user operation intent recognition, avoids unintended operation events, effectively prevents misoperation of equipment due to misidentification, and facilitates convenient user control of target home appliances.

[0047] As described above, embodiments of this disclosure can determine the direction of a user's hand gesture based on the relative positional relationship between the fingernail and the knuckle. Specifically, a first image related to the user's fingernail and a second image related to the user's finger knuckle can be extracted from the user's gesture image; direction information is determined based on the relative positional relationship between the first and second images.

[0048] The process of determining direction information will be explained below with specific examples.

[0049] Taking the recognition module set at the critical position between two adjacent doors as an example, the direction of the user's hand can be determined by the relative position of the fingernail and the knuckle in the vertical direction, and thus the position of the target door in the vertical direction can be determined.

[0050] Typically, fingernails are shorter than knuckles. When a user points vertically upwards or downwards, image processing first identifies the edge line between the fingernail and the knuckle. The portion with the shorter vertical distance is designated as the first image related to the user's fingernail, while the portion with the longer vertical distance is designated as the second image related to the user's finger joint. Then, based on the relative positions of the first and second images, the direction of the user's gesture can be determined.

[0051] Specifically, it can include the following two situations: If... Figure 2 As shown, with the first image above and the second image below, meaning the user's fingernail is above the user's knuckle, the direction the user is pointing can be determined to be upwards. Therefore, the door located above the recognition module can be identified as the target door. If... Figure 3 As shown, the first image is below and the second image is above. This means that when the user's fingernail is below the user's knuckle, the user's pointing direction can be determined to be downwards. Therefore, the door located below the recognition module can be identified as the target door. Determining the vertical position of the target door by the relative position of the fingernail and knuckle allows for accurate acquisition of the user's control intent, ensuring the accuracy of control commands and improving the recognition accuracy of the target door.

[0052] Similarly, if the recognition module is set at the critical position between two adjacent doors, the direction of the user's hand can be determined by the relative position of the fingernail and knuckle in the horizontal direction, thereby determining the horizontal position of the target door.

[0053] Specifically, when a user indicates left or right in the horizontal direction, the shorter horizontal portion is identified as the first image related to the user's fingernail, and the longer horizontal portion is identified as the second image related to the user's finger joint. The direction of the user's gesture is determined based on the relative positions of the first and second images. That is, if the first image is on the left and the second image is on the right (i.e., the user's fingernail is to the left of the user's finger joint), the user's direction is determined to be left, and the door located to the left of the recognition module is identified as the target door. Conversely, if the first image is on the right and the second image is on the left (i.e., the user's fingernail is to the right of the user's finger joint), the user's direction is determined to be right, and the door located to the right of the recognition module is identified as the target door.

[0054] Similarly, if the recognition module is positioned at a critical point between four adjacent doors, and a sensing module is also positioned at that critical point, the location information of the user's hand, collected by the sensing module, can be obtained. Then, based on the direction and location information indicated by the user's hand, the target door can be determined from the available doors.

[0055] Specifically, in combination Figure 4As shown, the direction of the user's gesture is determined by the recognition module (see above for the specific determination process), and a Cartesian coordinate system is established at the sensing module. By collecting the position information of the user's hand through the sensing module, the area where the user's hand is located in the Cartesian coordinate system can be determined (e.g., above the horizontal axis, below the horizontal axis, to the left of the vertical axis, or to the right of the vertical axis). Then, based on the direction of the user's gesture and the area where the user's hand is located, the target door is determined from the selectable door types. That is, if the user's gesture is to the left and the area where the user's hand is located is above the horizontal axis, the door located to the upper left of the recognition module can be used as the target door; if the user's gesture is upward and the area where the user's hand is located is to the right of the vertical axis, the door located to the upper right of the recognition module can be used as the target door; if the user's gesture is to the right and the area where the user's hand is located is below the horizontal axis, the door located to the lower right of the recognition module can be used as the target door; if the user's gesture is downward and the area where the user's hand is located is to the left of the vertical axis, the door located to the lower right of the recognition module can be used as the target door.

[0056] This solution can quickly identify the location of a user's hand when the sensor module detects the user's hand, and determine the target door associated with that location, so that the target home appliance can quickly obtain the user's control intention and achieve precise control.

[0057] Optionally, to save power, the recognition module can be triggered to collect user gesture images when door control is required. As an example, the target home appliance can collect user gesture images upon user triggering. For instance, by using human body sensing technology, when it is determined that a user with a command intent is present (e.g., a user is sensed to be present near the device and has lingered near the device for a specified time), command gesture images can be collected.

[0058] This allows for the capture of user gesture images when door control is required. This avoids resource waste caused by repeated data capture by the recognition module, effectively saves energy, and is more convenient for users. It also prevents erroneous control due to misidentification.

[0059] Optionally, in order to confirm whether the identified target door is accurate, a target door confirmation message can be sent to the user after the target door is identified, and the door opening control command of the target door can be obtained when the target information is received from the user.

[0060] The target information includes at least two scenarios: the target door is correctly identified or it is incorrectly identified; please try again. When the target door is correctly identified, the system obtains the door opening control command and opens the door. When the target door is incorrectly identified and you need to try again, the system triggers the recognition module to collect the command gesture image again, re-identifies the direction information of the hand gesture extracted from it, and confirms the target door until the user confirms that the target door is correctly identified, thus opening the door for the user-confirmed target door. This ensures the accuracy of the control commands and improves recognition precision.

[0061] In practical applications, when the target appliance is a multi-door refrigerator, the refrigerator senses that the user has been standing in front of it for a preset time. This triggers the refrigerator's recognition module to collect and recognize the user's command gesture image, extracting the direction information of the user's hand gesture. If the fingernail is positioned above the knuckle, the target door is determined to be the door above the recognition module. A request is then sent to the user to confirm whether the target door is indeed the door above the recognition module. Upon user confirmation, the control command for that door is obtained, and the door is opened.

[0062] Figure 5 This is a schematic diagram of a device for opening the door of a household appliance, provided in an embodiment of this disclosure. Figure 5 As shown, this disclosure provides an apparatus for home appliances, including an acquisition module 21, an optional door determination module 22, a target door determination module 23, and a control module 24. The acquisition module 21 is configured to acquire a user gesture image collected by a recognition module. The optional door determination module 22 is configured to determine adjacent doors associated with the recognition module as optional doors. The target door determination module 23 is configured to determine a target door from the optional doors based on the direction information of the user's hand gesture extracted from the user gesture image. The control module 24 is configured to generate an opening control command for opening the target door, thereby controlling the opening of the target door.

[0063] The device for home appliances provided in this disclosure enables users to control the target door of the appliance with gestures without touching it. This avoids the need for multiple recognition modules in existing home appliances with multiple doors, saving manufacturing costs while improving user convenience. It also solves the problem of accurately controlling the appliance even when users have difficulty touching the door.

[0064] Combination Figure 6As shown, this disclosure provides an apparatus for opening the door of a home appliance, including a processor 100 and a memory 101. Optionally, the apparatus may further include a communication interface 102 and a bus 103. The processor 100, communication interface 102, and memory 101 can communicate with each other via the bus 103. The communication interface 102 can be used for information transmission. The processor 100 can call logical instructions in the memory 101 to execute the method for opening the door of a home appliance described in the above embodiment.

[0065] Furthermore, the logic instructions in the aforementioned memory 101 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0066] The memory 101, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 100 executes functional applications and data processing by running the program instructions / modules stored in the memory 101, that is, it implements the method for opening the door of home appliances in the above embodiments.

[0067] The memory 101 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 101 may include high-speed random access memory and may also include non-volatile memory.

[0068] This disclosure provides a home appliance device including the aforementioned device for opening the door of the home appliance.

[0069] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to perform the above-described method for opening a door of a home appliance.

[0070] This disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the above-described method for opening a door of a home appliance.

[0071] The aforementioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0072] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, including: a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media capable of storing program code; it can also be a transient storage medium.

[0073] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0074] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0075] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0076] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for opening a door of a household appliance, the household appliance comprising multiple door panels, characterized in that, The method includes: The user gesture image is acquired by the recognition module, which is located at the critical position of adjacent doors and is shared by the adjacent doors. The adjacent doors associated with the identification module are identified as selectable doors; Extract a first image related to the user's fingernail and a second image related to the user's finger joint from the user's gesture image; wherein the length of the fingernail is less than the length of the finger joint, the edge line between the fingernail and the finger joint is identified through image processing, the part with a smaller vertical height is identified as the first image related to the user's fingernail, and the part with a larger vertical height is identified as the second image related to the user's finger joint. Based on the relative positional relationship between the first image and the second image, the directional information of the user's hand indication is determined, and the target door is determined from the selectable door bodies; Generate a door opening control command to open the target door, and perform door opening control on the target door.

2. The method according to claim 1, characterized in that, If the recognition module is positioned at the critical point between two adjacent doors, then The direction information is the direction indicated by the user's hand, either upward or downward in the vertical direction.

3. The method according to claim 1, characterized in that, If the recognition module is positioned at the critical point between two adjacent door panels, then The direction information is the left or right direction indicated by the user's hand in the horizontal direction.

4. The method according to claim 1, characterized in that, If the recognition module is located at a critical position between four adjacent doors, and a sensing module is also located at that critical position, the method further includes: The location information of the user's hand, collected by the sensing module, is obtained. Determining the target door from the selectable door bodies based on the direction information of the user's hand gesture extracted from the user's gesture image includes: determining the target door body based on the direction information and the position information.

5. The method according to claim 1, characterized in that, Also includes: When the target home appliance senses a user's command intent, it acquires an image of the user's command gesture.

6. The method according to any one of claims 1 to 5, characterized in that, After determining the target door, the following is also included: Send the target door confirmation message to the user; Upon receiving target information from user feedback, the system obtains the door opening control command for the target door.

7. A device for opening doors of household appliances, characterized in that, include: The acquisition module is configured to acquire user gesture images collected by the recognition module, which is located at the critical position of adjacent doors and is shared by the adjacent doors. The optional door determination module is configured to determine the adjacent doors associated with the identification module as optional doors; The target door determination module extracts a first image related to the user's fingernail and a second image related to the user's finger joints from the user's gesture image. Since the length of the fingernail is shorter than the length of the finger joint, the edge line between the fingernail and the finger joint is identified through image processing. The portion with a smaller vertical height is determined as the first image related to the user's fingernail, and the portion with a larger vertical height is determined as the second image related to the user's finger joints. Based on the relative positional relationship between the first and second images, the direction information of the user's hand gesture is determined, and the target door is determined from the selectable door types. The control module is configured to generate an opening control command for opening the target door and to control the opening of the target door.

8. A device for opening the door of a household appliance, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to, when executing the program instructions, perform the method for opening a door for a home appliance as described in any one of claims 1 to 6.

9. A household appliance, characterized in that, Includes the device for opening doors of household appliances as described in claim 7 or 8.

Images