Temperature regulating device and control method thereof

Abstract

The present application discloses a temperature control device and a control method thereof, the method comprising: obtaining request information when a sub-machine enters or exits a warehouse; controlling a motor to operate in a first operating mode using a first PWM wave according to the request information; raising the lift door to its proper position to control the sub-machine to enter or exit the warehouse; after the sub-machine enters or exits the warehouse, controlling the motor to operate in a second operating mode using a second PWM wave; and controlling the motor to operate in a third operating mode using the first PWM wave; the pulse directions of the first PWM wave and the second PWM wave being opposite. This embodiment avoids irreversible damage to the motor and transmission structure caused by starting with a full-power drive load; controlling the speed of the lift door can effectively reduce noise generated by violent impacts, provide excellent buffering protection for the door frame, and extend the life of the lift door; and slow closing also effectively protects the user from accidental injury.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of electrical equipment, and specifically to a temperature regulating device and a control method thereof. Background Art

[0002] Currently, the main unit's lift door is driven by two DC motors to open and close. When a slave unit needs to exit the storage compartment, the lift door opens at full speed and then rises to the upper limit before the unit can be moved out. Once the unit is detached from the main unit, the lift door descends at full speed until it reaches the lower limit, closing. Similarly, when a slave unit returns to the storage compartment, the lift door opens first, allowing it to enter, and then closes.

[0003] The commonly used lift door switch control method is:

[0004] When the lift door needs to be opened, the DC motor runs at full speed according to the preset running time until the upper limit switch is triggered, then hits the upper door frame and blocks for a period of time to stop the door from rising.

[0005] When the lift door needs to be closed, the DC motor runs at full speed according to the preset running time until the lower limit switch is triggered, and then the drive stops. The door relies on inertia and gravity to hit the lower door frame, causing the lift door to stop.

[0006] The control methods are the same for new products or products that have been used for many years.

[0007] The above-mentioned lift door switch control scheme has the following shortcomings:

[0008] 1. When the lift door starts, the motor immediately runs at full speed, which will damage the motor and transmission structure.

[0009] 2. When the lift door triggers the limit switch, it still runs at full speed, or turns off the drive and relies on inertia and gravity to run. This will cause the lift door to hit the upper and lower positions, make noise, and impact the door frame, which will damage the door and door frame in the long run.

[0010] Current air conditioners also have the following flaws: New mass-produced units can experience inconsistent door opening and closing times due to variations in motor and structural components, as well as assembly errors. Older air conditioner main units experience wear and tear from prolonged operation compared to newer sub-units, delaying door opening and closing times. Summary of the Invention

[0011] The main purpose of the embodiments of the present application is to provide a temperature control device and a control method thereof, which aims to solve the technical problems that the existing temperature control device starts to drive the motor at full power when opening and closing the lifting door, causing the motor to start suddenly, damaging the motor and transmission structure, and the lifting door to run too fast, causing the lifting door to hit the upper and lower limits, making loud noises, and easily damaging the door and door frame.

[0012] To achieve the above objectives, an embodiment of the present application provides a method for controlling a temperature control device. The temperature control device may include: a slave unit, a lift door for allowing the slave unit to enter or exit a compartment, and a motor for driving the lift door to rise and fall. The method may include:

[0013] Get the request information when the slave machine leaves or enters the warehouse;

[0014] Based on the request information, the motor is controlled to operate in a preset first operating mode using a first PWM wave to gradually increase the lifting speed of the lift door and then gradually decrease the lifting speed of the lift door. The first operating mode may include gradually increasing the speed of the motor from zero to a preset first speed and then gradually decreasing from the first speed, so that the lift door accelerates smoothly when it starts to rise and decelerates smoothly before reaching a preset upper limit.

[0015] After the lift door rises to the preset upper limit, the sub-machine is controlled to move out of or into the warehouse;

[0016] After the slave unit enters or exits the warehouse, the motor is controlled to operate in a preset second operating mode using a second PWM wave to gradually increase the descent speed of the lift door; and the motor is controlled to operate in a preset third operating mode using a first PWM wave to gradually decrease the descent speed of the lift door. The first PWM wave and the second PWM wave have opposite pulse directions. The second operating mode may include gradually increasing the motor speed from zero to a preset second speed, and then gradually decreasing from the second speed to zero. The third operating mode may include gradually increasing the motor speed from zero to a preset third speed. This allows the lift door to smoothly accelerate when it begins to descend and smoothly decelerate before reaching the preset lower limit.

[0017] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may include:

[0018] During a preset first rising period when the lift door begins to rise, a first PWM wave may be used to drive the motor step by step with a duty cycle ranging from zero to a preset first duty cycle, thereby enabling the motor to increase its speed step by step from zero to the first speed.

[0019] During the second rising period before the lifting door rises to the preset upper limit, the first PWM wave can be used to drive the motor step by step with multiple levels of duty cycle from a preset first duty cycle to a preset second duty cycle, so that the motor can be reduced step by step from the first speed to a fourth speed until the lifting door reaches the preset upper limit; wherein the first duty cycle is greater than or equal to the second duty cycle.

[0020] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may further include:

[0021] After the second rising period, the first PWM wave may be used to drive the motor step by step with multiple duty cycles ranging from the second duty cycle to zero, so that the motor can be reduced from the fourth speed to zero.

[0022] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may further include:

[0023] During a third rising period between the first rising period and the second rising period, the motor may be driven by using a first PWM wave with a first duty cycle, so that the motor may maintain a first speed.

[0024] In an exemplary embodiment of the present application, controlling the motor to operate in a preset second operating mode using the second PWM wave may include:

[0025] During a preset first descending period when the lift door begins to descend, a second PWM wave may be used to drive the motor step by step with a duty cycle ranging from zero to a preset third duty cycle, thereby enabling the motor to gradually increase its speed from zero to a second speed; thereby increasing the acceleration of the lift door during descent from zero to the first acceleration;

[0026] In a preset second falling period after the first falling period, a second PWM wave can be used to drive the motor step by step with multiple levels of duty cycle from a third duty cycle to zero, so that the motor can be reduced step by step from the second speed to zero, so that the acceleration of the lift door when it descends can be reduced from the first acceleration to zero, thereby reducing the downward acceleration of the lift door during its downward movement.

[0027] In an exemplary embodiment of the present application, controlling the motor to operate in a preset second operating mode using a second PWM wave may further include:

[0028] During a third falling period between the first falling period and the second falling period, the second PWM wave may be used to drive the motor with a third duty cycle, so that the motor can maintain a second speed.

[0029] In an exemplary embodiment of the present application, controlling the motor to operate in a preset third operating mode using the first PWM wave may include:

[0030] In the fourth falling period after the second falling period, the first PWM wave can be used to drive the motor step by step with multiple levels of duty cycle from zero to the fourth duty cycle, so that the motor increases step by step from zero speed to the third speed, thereby slowing down the lifting door.

[0031] In an exemplary embodiment of the present application, controlling the motor to operate in a preset third operating mode using the first PWM wave may further include:

[0032] In the fifth falling period after the fourth falling period, the first PWM wave can be used to drive the motor with a fourth duty cycle, so that the motor is maintained at the third speed, and the reverse acceleration of the lifting door when it descends is maintained at the first acceleration until the lifting door reaches the preset lower limit and the speed is reduced to zero.

[0033] In an exemplary embodiment of the present application, the method may further include:

[0034] Before controlling the motor to operate in a preset second operating mode, it is possible to detect whether the motor has stopped operating;

[0035] When it is determined that the motor has stopped running, the motor can be controlled to start running in the second operating mode;

[0036] When it is determined that the motor has not stopped running, the first PWM wave can be used to control the motor, and the duty cycle used to drive the motor can be gradually reduced to zero to control the motor to stop running.

[0037] In an exemplary embodiment of the present application, the method may further include:

[0038] After the lift door has completed its ascent (reached the preset upper limit), it may be detected whether the sum of the first ascent period, the second ascent period, and the third ascent period is within the fluctuation range of the first constant value;

[0039] When it is determined that the sum of the first rising period, the second rising period and the third rising period is included in the fluctuation range of the first constant value, the durations of the first rising period, the second rising period and the third rising period can be kept unchanged;

[0040] When it is determined that the sum of the first rising period, the second rising period and the third rising period is not included in the fluctuation range of the first constant value, one or more of the first rising period, the second rising period and the third rising period can be adjusted so that the sum of the first rising period, the second rising period and the third rising period can be within the fluctuation range of the first constant value.

[0041] In an exemplary embodiment of the present application, the method may further include:

[0042] After the lift door has completed its descent (descended to a preset lower limit), detecting whether the sum of the first descent period, the second descent period, the third descent period, the fourth descent period, and the fifth descent period is within a fluctuation range of the second constant value;

[0043] When it is determined that the sum of the first falling period, the second falling period, the third falling period, the fourth falling period and the fifth falling period is within the fluctuation range of the second constant value, the lengths of the first falling period, the second falling period, the third falling period, the fourth falling period and the fifth falling period may be kept unchanged;

[0044] When it is determined that the sum of the first decline period, the second decline period, the third decline period, the fourth decline period and the fifth decline period is not within the fluctuation range of the second constant value, one or more of the first decline period, the second decline period, the third decline period, the fourth decline period and the fifth decline period can be adjusted so that the sum of the first decline period, the second decline period, the third decline period, the fourth decline period and the fifth decline period is within the fluctuation range of the second constant value.

[0045] An embodiment of the present application also provides a temperature control device, which may include: a sub-machine, a lifting door for allowing the sub-machine to enter or exit a warehouse, a motor for driving the lifting door to rise, a motor for driving the lifting door to descend, a processor, and a computer-readable storage medium. The computer-readable storage medium may store instructions. When the instructions are executed by the processor, any of the above-mentioned temperature control device control methods may be implemented.

[0046] In the technical solution of the embodiment of the present application, the temperature regulating device may include: a sub-machine, a lifting door for allowing the sub-machine to enter or exit the warehouse, and a motor for driving the lifting door to rise and fall; the method may include: obtaining request information when the sub-machine enters or exits the warehouse; controlling the motor to operate in a preset first operating mode with a first PWM wave according to the request information, so as to gradually increase the rising speed of the lifting door, and then gradually reduce the rising speed of the lifting door; after the lifting door rises to its position, controlling the sub-machine to enter or exit the warehouse; after the sub-machine enters or exits the warehouse, controlling the motor to operate in a preset second operating mode with a second PWM wave, so as to gradually increase the descending speed of the lifting door; and controlling the motor to operate in a preset third operating mode with the first PWM wave, so as to gradually reduce the descending speed of the lifting door; wherein, the pulse directions of the first PWM wave and the second PWM wave are opposite. This embodiment avoids irreversible damage to the motor and transmission structure caused by starting with full power driving load; the speed control of the lifting door can effectively reduce the noise generated by violent impact, provide good buffering protection for the door frame, and extend the life of the lifting door; slow closing also protects users from accidental injuries. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0048] Figure 1 This is a flow chart of a temperature control method according to an embodiment of the present application;

[0049] Figure 2 This is a schematic structural diagram of a temperature regulating device according to an embodiment of the present application;

[0050] Figure 3 This is a schematic structural diagram of a storage bin according to an embodiment of the present application;

[0051] Figure 4 This is a schematic diagram of the structure of the sub-machine according to an embodiment of the present application;

[0052] Figure 5 This is a flow chart of a control method for a lift door when it is rising according to an embodiment of the present application;

[0053] Figure 6 This is a schematic diagram of a control method for a lift door when it is rising according to an embodiment of the present application;

[0054] Figure 7 This is a flow chart of a control method for lowering a lift door according to an embodiment of the present application;

[0055] Figure 8 This is a schematic diagram of a control method for lowering a lift door according to an embodiment of the present application;

[0056] Figure 9 This is a schematic diagram of a standard door opening (rising) drive control curve in an embodiment of the present application;

[0057] Figure 10 This is a schematic diagram of a drive control curve after a first adjustment is made to the duration of each time period when the lift door is rising in an embodiment of the present application;

[0058] Figure 11 This is a schematic diagram of a drive control curve after the second adjustment is made to the duration of each time period when the lift door is rising in an embodiment of the present application;

[0059] Figure 12 This is a schematic diagram of a standard door closing (descent) drive control curve in an embodiment of the present application;

[0060] Figure 13 This is a schematic diagram of a drive control curve after a first adjustment is made to the duration of each time period when the lift door is descending according to an embodiment of the present application;

[0061] Figure 14 Schematic diagram of a drive control curve after a second adjustment is made to the duration of each time period when the lift door is descending according to an embodiment of the present application;

[0062] Figure 15 Schematic diagram of the self-correcting closed-loop control of the lifting door lifting time according to an embodiment of the present application;

[0063] Figure 16 This is a block diagram of the temperature adjustment device according to an embodiment of the present application.

[0064] Description of Figure Numbers:

[0065]

[0066] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0068] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0069] In addition, in the embodiments of the present application, descriptions such as "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0070] In the embodiments of this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection or electrical connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0071] In addition, the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0072] The embodiment of the present application proposes a method for controlling a temperature regulating device, wherein the temperature regulating device may include: a slave, a lifting door for allowing the slave to enter or exit a compartment, a motor for driving the lifting door to rise, and a motor for driving the lifting door to descend; Figure 1 As shown, the method may include steps S101-S104:

[0073] S101, obtaining request information when the slave device leaves or enters the warehouse;

[0074] S102: Based on the request information, the motor is controlled to operate in a preset first operating mode using a first PWM wave to gradually increase the lifting speed of the lift door and then gradually decrease the lifting speed of the lift door. The first operating mode may include gradually increasing the motor speed from zero to a preset first speed and then gradually decreasing from the first speed, so that the lift door accelerates smoothly when it starts to rise and decelerates smoothly before reaching a preset upper limit.

[0075] S103, after the lift door rises to its proper position, the sub-machine is controlled to exit or enter the warehouse;

[0076] S104. After the slave unit enters or exits the warehouse, the motor is controlled to operate in a preset second operating mode using a second PWM wave to gradually increase the descent speed of the lift door; and the motor is controlled to operate in a preset third operating mode using the first PWM wave to gradually decrease the descent speed of the lift door. The first PWM wave and the second PWM wave have opposite pulse directions. The second operating mode may include gradually increasing the motor speed from zero to a preset second speed, and then gradually decreasing it from the second speed to zero. The third operating mode may include gradually increasing the motor speed from zero to a preset third speed. This allows the lift door to smoothly accelerate when it begins to descend and smoothly decelerate before reaching the preset lower limit.

[0077] In the exemplary embodiment of the present application, the temperature adjustment device may include but is not limited to air conditioners, fans, etc. The embodiment of the present application may be described below using an air conditioner as an example.

[0078] In an exemplary embodiment of the present application, the motor may be a single motor or multiple motors. For example, the motor may include a first motor and a second motor, where the first motor may be used to control the lift door's ascent, and the second motor may be used to control the lift door's descent. When a single motor is used, the lift door's ascent and descent may be controlled separately by forward and reverse rotation. The specific implementation of the motor is not limited herein.

[0079] In the exemplary embodiments of the present application, Figure 2 As shown, the temperature regulating device 1 (such as an air conditioner) may include: a main unit 11, a sub-unit 12, a lifting door 13 and a storage compartment 14. The main unit 11 may be the internal unit body of the temperature regulating device, and its main function may be to realize basic functions such as cooling and heating. Air guide strips 17 are provided on both sides of the main unit 11. The sub-unit 12 may be a movable small machine stored inside the main unit. When the sub-unit is required to perform a task, it can leave the main unit and go to a designated location. The lifting door 13 may be a door used to open or close so that the sub-unit 12 can enter or exit the compartment, and the door can be opened or closed by lifting. The storage compartment 14 may be a storage space inside the main unit 11 for placing the sub-unit 12. The lifting door 13 may be a door used to open or close the storage compartment 14.

[0080] In an exemplary embodiment of the present application, when the slave 12 is located in the lower space of the main unit 11, opening the lift door 13 may cause the lift door 13 to ascend, and closing the lift door 13 may cause the lift door 13 to descend. When the slave 12 is located in the upper space of the main unit 11, opening the lift door 13 may cause the lift door 13 to descend, and closing the lift door 13 may cause the lift door 13 to ascend.

[0081] In the exemplary embodiment of the present application, the embodiment of the present application is described by taking the sub-machine 12 located in the lower space of the main machine 11 as an example. The structural diagram of the storage compartment 14 of the temperature regulating device 1 can be as follows: Figure 3 As shown, the actual diagram of the slave 12 can be as shown in FIG. Figure 4 shown.

[0082] In an exemplary embodiment of the present application, the handset 12 can be charged in the storage compartment 14 via a charging dock 16, or can be moved out to perform other tasks. A lift door 13 can be provided in front of the storage compartment 14 for the handset 12, and sliding guide rails 15 can be provided on both sides of the lift door 13. Only when the lift door 13 is opened (raised) can the handset 12 enter and exit the storage compartment 14.

[0083] It is known that existing competing products often start by driving the motor at full power when opening and closing the lift door 13. This causes the motor to start violently, which can easily damage the motor and transmission structure. In addition, the lift door 13 runs very fast, causing the lift door 13 to hit the upper and lower latches, making noise and impacting the door frame, which can damage the door and door frame over time. Moreover, some competing products have difficulty achieving stable and consistent door opening and closing times during mass production. Over time, the door opening and closing times can be extended, mainly due to aging and wear of components, but competing products do not have the ability to adjust.

[0084] In the exemplary embodiment of the present application, the embodiment of the present application provides a solution to the above problems. In the initial stage of the lifting door 13 rising or falling, the lifting door 13 is controlled to start smoothly (smoothly increase speed), and smoothly decelerate in the ending stage to protect the motor and transmission structure, and avoid irreversible damage to the motor and transmission structure caused by the full-power driving load at the start; the speed control of the lifting door 13 can effectively reduce the noise generated by violent impact, play a good buffering and protective role for the door frame, and extend the life of the lifting door 13; slow closing also protects users from accidental injuries.

[0085] In the exemplary embodiment of the present application, the embodiment of the present application is described in detail below. First, the control scheme of the lifting door 13 in the ascending stage is described.

[0086] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may include:

[0087] During a preset first rising period Tu1 when the lift door 13 begins to rise, the motor may be driven step by step using a first PWM wave with a duty cycle from zero to a preset first duty cycle, thereby increasing the motor speed step by step from zero speed to the first speed.

[0088] During the second rising period Tu2 before the lifting door rises to the preset upper limit, the first PWM wave can be used to drive the motor step by step with a duty cycle from a preset first duty cycle to a preset second duty cycle, so that the motor can be gradually reduced from the first speed to the fourth speed until the lifting door reaches the preset upper limit; wherein the first duty cycle is greater than or equal to the second duty cycle.

[0089] In the exemplary embodiment of the present application, the first speed can be defined according to different air-conditioning types, different lift door heights or different application scenarios, and the specific value of the first speed is not limited here.

[0090] In the exemplary embodiment of the present application, it is known that the motor speed will increase as the duty cycle of the pulse width modulation (PWM) control increases, and decrease as the duty cycle decreases. Therefore, the embodiment of the present application can directly achieve smooth starting and smooth deceleration of the motor by performing PWM control on the motor and adjusting the duty cycle of the PWM control, so that the lifting door driven by the motor moves smoothly accordingly.

[0091] In an exemplary embodiment of the present application, when the air conditioner master control (which can be the main unit 11 of the air conditioner) receives the entry request information or exit request information of the sub-machine 12, it will first control the lifting door 13 to rise to open the storage bin 14. After controlling the sub-machine 12 to enter or exit the bin, it will control the lifting door 13 to descend to close the storage bin 14.

[0092] In an exemplary embodiment of the present application, during the ascending process of the lift door 13 , in order to make the lift door 13 reach a preset upper limit, the motor needs to overcome the gravity of the lift door 13 itself and drive the lift door 13 to ascend at a certain speed.

[0093] In an exemplary embodiment of the present application, after the main control receives the request information for exiting or entering the warehouse, before controlling the lifting door 13 to start rising, the current position of the lifting door 13 can be first determined. If the current lifting door 13 is not at the preset lower limit position, the lifting door 13 can be first reset to the lower limit position, and then the lifting door 13 can be controlled to start rising.

[0094] In an exemplary embodiment of the present application, this reset operation can also be performed each time the air conditioner is powered on. For example, after the cabinet air conditioner is powered on, the main unit 11 receives the sensor signals at the upper and lower limit positions, and combines the stored information from the last power failure to determine the current position of the lift door 13. If the lift door 13 is not currently at the lower limit position, the main unit can use a PWM wave with a set duty cycle (for example, 5%) to drive the motor upward. The lift door 13's own weight overcomes the driving force of the motor and slowly descends until the sensor at the lower limit position is triggered and reaches the lower limit position. If the lift door 13 is currently at the lower limit position, the main unit 11 can communicate with the slave unit 12, and the slave unit 12 can request to enter or exit the storage compartment 14.

[0095] In an exemplary embodiment of the present application, the first duty cycle may include but is not limited to 80%-100%, for example, 100% may be selected.

[0096] In an exemplary embodiment of the present application, after the motor starts to start, the host can drive the motor with a duty cycle from 0 to 100% within time Tu1, allowing the motor to start smoothly, reducing the impact of directly driving the motor with a full duty cycle on the transmission structure, and extending the life of the transmission structure.

[0097] In an exemplary embodiment of the present application, the second duty cycle is smaller than the first duty cycle. The second duty cycle may include but is not limited to 10%-20%. For example, 10% may be selected.

[0098] In an exemplary embodiment of the present application, before the lifting door 13 is about to reach the upper limit, within time Tu3, the host can send a duty cycle drive motor with a duty cycle from 100% to 10%, allowing the motor to decelerate smoothly (for example, to the fourth speed) and reach the upper limit, avoiding excessive impact on the door frame due to excessive speed, protecting the lifting door 13, reducing noise, and improving user experience.

[0099] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may further include:

[0100] After the second rising period, the first PWM wave can be used to gradually drive the motor at a duty cycle from the second duty cycle to zero, thereby reducing the motor speed from the fourth speed to zero. In the exemplary embodiment of the present application, the motor can finally be driven at a duty cycle of 10% to balance the weight of lift door 13 and keep lift door 13 stopped without stalling.

[0101] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may further include:

[0102] In a third rising period Tu3 between the first rising period Tu1 and the second rising period Tu2 , the motor may be driven with a first PWM wave at a first duty cycle, so that the motor may maintain a first speed.

[0103] In an exemplary embodiment of the present application, after time Tu1, the host can still drive the motor at a full duty cycle within time Tu3, so that the lifting door 13 reaches the fastest speed to open the lifting door 13 in the shortest time, and then enter the deceleration stage of time Tu2.

[0104] In the exemplary embodiment of the present application, a complete control embodiment for the lifting door 13 when opening (rising) can be given below, such as Figure 5 、 Figure 6 As shown, steps S201-S206 may be included:

[0105] S201: After the cabinet air conditioner is powered on, the host 11 receives signals from the upper limit sensor and the lower limit sensor, and determines the current position of the lift door 13 based on the stored information from the last power failure.

[0106] S202: If the lift door 13 is not at the lower limit position, the host 11 may use a PWM wave with a duty cycle of 5% to drive the motor to rotate and move the lift door 13 upward. The lift door 13's own gravity overcomes the driving force of the motor and slowly descends until the lower limit sensor is triggered and the lift door 13 reaches the lower limit position.

[0107] S203: If the lift door 13 is currently at the lower limit position, the host 11 communicates with the slave 12, and the slave 12 sends an application message for exiting the storage bin 14 (exit) or entering the storage bin 14 (enter);

[0108] S204, start controlling the motor rotation. The host 11 sends a duty cycle from 0 to 100% to drive the motor within the time Tu1, so that the motor starts smoothly, reduces the impact of direct driving with full duty cycle on the transmission structure, and extends the life of the transmission structure;

[0109] S205. After time Tu1, the host continues to drive the motor at a full duty cycle within time Tu3. This is when the lift door 13 reaches the fastest speed, so as to open the lift door 13 in the shortest time.

[0110] S206. After time Tu3, the host sends a duty cycle to drive the motor from 100% to 10% within time Tu2, allowing the motor to decelerate smoothly and reach the upper limit to avoid excessive impact on the door frame due to excessive speed, protect the lift door, reduce noise, and improve user experience. Finally, the motor is driven with a duty cycle of 10% to balance the gravity of the lift door and keep the lift door stopped without blocking.

[0111] In the exemplary embodiment of the present application, the control scheme of the lifting door 13 during the descending phase is introduced below.

[0112] In an exemplary embodiment of the present application, controlling the motor to operate in a preset second operating mode using the second PWM wave may include:

[0113] During a preset first descending period Td1 when the lift door 13 begins to descend, the motor may be driven step by step using a second PWM wave with a duty cycle ranging from zero to a preset third duty cycle, thereby increasing the motor speed step by step from zero to the second speed; and increasing the acceleration of the lift door when descending from zero to the first acceleration.

[0114] In the preset second falling period Td2 after the first falling period, a second PWM wave can be used to drive the motor step by step with a duty cycle from the third duty cycle to zero, so that the motor can be reduced step by step from the second speed to zero, so that the acceleration of the lifting door when it descends can be reduced from the first acceleration to zero, thereby reducing the downward acceleration of the lifting door 13 during the downward movement.

[0115] In the exemplary embodiment of the present application, the second speed can be defined according to different air-conditioning types, different lift door heights or different application scenarios, and the specific value of the second speed is not limited here.

[0116] In an exemplary embodiment of the present application, the method may further include:

[0117] Before controlling the motor to operate in a preset second operating mode, it is possible to detect whether the motor has stopped operating;

[0118] When it is determined that the motor has stopped running, the motor can be controlled to start running in the second operating mode;

[0119] When it is determined that the motor has not stopped running, the first PWM wave can be used to control the motor, and the duty cycle used to drive the motor can be gradually reduced to zero, so that the motor can be controlled to stop running.

[0120] In an exemplary embodiment of the present application, when the sub-machine 12 has come out of the storage bin 14 or has entered the storage bin 14, and has communicated with the host 11 to confirm ok; before starting to control the operation of the motor, the host can reduce the PWM duty cycle of the motor driving the lifting door to run upward within the time Td0, for example, from 10% to 0, so that the motor starts to smoothly descend until it stops.

[0121] In an exemplary embodiment of the present application, the third duty cycle may include but is not limited to 10%-20%, for example, 10% may be selected.

[0122] In an exemplary embodiment of the present application, after time Td0, within time Td1, the host 11 can control the motor to execute a downward PWM wave, that is, control the motor to rotate to drive the lifting door 13 to run downward. The duty cycle of the PWM wave can be from 0 to 10%, so that the motor accelerates smoothly and accelerates to the second speed.

[0123] In an exemplary embodiment of the present application, after the elevator 13 is driven by the motor to descend for a certain period of time, the duty cycle of the control motor can be reduced to reduce the acceleration of the descending process of the lift door 13 to prepare for the smooth closing of the lift door.

[0124] In an exemplary embodiment of the present application, during the time Td2 , the host may control the duty cycle from 10% to 0, thereby reducing the acceleration of the lift door 13 .

[0125] In an exemplary embodiment of the present application, controlling the motor to operate in a preset second operating mode using a second PWM wave may further include:

[0126] In a third falling period Td3 between the first falling period Td1 and the second falling period Td2 , the motor may be driven by using a second PWM wave with a third duty cycle, so that the motor may maintain a second speed.

[0127] In an exemplary embodiment of the present application, after time Td1, the host can maintain a duty cycle of 10% within time Td3, so that the lift door 13 gradually accelerates to the maximum speed to achieve closing of the lift door 13 in the shortest time; then enters time Td2.

[0128] In an exemplary embodiment of the present application, controlling the motor to operate in a preset third operating mode using the first PWM wave may include:

[0129] In the fourth falling period Td4 after the second falling period Td2, the first PWM wave can be used to drive the motor step by step with a duty cycle from zero to a fourth duty cycle, so that the motor speed increases step by step from zero speed to the third speed, thereby slowing down the lift door.

[0130] In an exemplary embodiment of the present application, the fourth duty cycle may include but is not limited to 5%-10%, for example, 5% may be selected.

[0131] In an exemplary embodiment of the present application, after time Td2, the host can control the motor to execute an upward PWM wave within time Td4, and the duty cycle can be from 0 to 5%, allowing the motor to decelerate smoothly.

[0132] In an exemplary embodiment of the present application, controlling the motor to operate in a preset third operating mode using the first PWM wave may further include:

[0133] In the fifth falling period Td5 after the fourth falling period Td4, the first PWM wave can be used to drive the motor with a fourth duty cycle, so that the motor is maintained at the third speed, and the reverse acceleration of the lifting door when it descends is maintained at the first acceleration until the lifting door reaches the preset lower limit and the speed is reduced to zero.

[0134] In an exemplary embodiment of the present application, after time Td4, the host can use an upward PWM wave (first PWM wave) to control the motor within time Td5, maintaining a duty cycle of 5%, and slowly decreasing until the lower limit sensor is triggered and reaches the lower limit, the duty cycle becomes 0, and the lifting door remains stationary.

[0135] In the exemplary embodiment of the present application, a complete embodiment of the lifting door closing control scheme is given below, such as Figure 7 、 Figure 8 As shown, steps S301-S307 may be included:

[0136] S301, when the slave 12 has come out of the storage compartment 14 or has entered the storage compartment 14 and has communicated with the host 11 to confirm that it is OK;

[0137] S302: At the beginning, the host reduces the duty cycle of the motor's upward PWM (first PWM wave) from 10% to 0 within time Td0, and the motor begins to smoothly decrease;

[0138] S303. After time Td0, the host controls the motor's downward PWM wave (second PWM wave) within time Td1, with a duty cycle from 0 to 10%, and the motor accelerates smoothly.

[0139] S304: After time Td1, the host maintains a duty cycle of 10% within time Td3, and the lift door gradually accelerates to the maximum speed to achieve the shortest possible closing time of the lift door;

[0140] S305: After time Td3, the host controls the duty cycle from 10% to 0 within time Td2 to reduce the door acceleration;

[0141] S306. After time Td2, the host controls the upward PWM wave (first PWM wave) of the motor within time Td4, with a duty cycle from 0 to 5%, so that the motor decelerates smoothly.

[0142] S307. After time Td4, the host controls the upward PWM wave (first PWM wave) of the motor within time Td5, maintains a duty cycle of 5%, and slowly decreases until the lower limit sensor is triggered and reaches the lower limit, the duty cycle becomes 0, and remains stationary.

[0143] In an exemplary embodiment of the present application, the method may further include:

[0144] After the lift door is lifted, it is possible to detect whether the sum of the first rising period Tu1, the second rising period Tu2, and the third rising period Tu3 is within the fluctuation range of the first constant value Tu;

[0145] When it is determined that the sum of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 is included in the fluctuation range of the first constant value Tu, the durations of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 can be kept unchanged;

[0146] When it is determined that the sum of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 is not included in the fluctuation range of the first constant value Tu, one or more of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 can be adjusted so that the sum of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 can be within the fluctuation range of the first constant value Tu.

[0147] In an exemplary embodiment of the present application, the method may further include:

[0148] After the lift door is lowered, detecting whether the sum of the first lowering period Td1, the second lowering period Td2, the third lowering period Td3, the fourth lowering period Td4 and the fifth lowering period Td5 is within the fluctuation range of the second constant value Td;

[0149] When it is determined that the sum of the first falling period Td1, the second falling period Td2, the third falling period Td3, the fourth falling period Td4 and the fifth falling period Td5 is within the fluctuation range of the second constant value Td, the durations of the first falling period Td1, the second falling period Td2, the third falling period Td3, the fourth falling period Td4 and the fifth falling period Td5 can be kept unchanged;

[0150] When it is determined that the sum of the first decline period Td1, the second decline period Td2, the third decline period Td3, the fourth decline period Td4 and the fifth decline period Td5 is not within the fluctuation range of the second constant value Td, one or more of the first decline period Td1, the second decline period Td2, the third decline period Td3, the fourth decline period Td4 and the fifth decline period Td5 can be adjusted so that the sum of the first decline period Td1, the second decline period Td2, the third decline period Td3, the fourth decline period Td4 and the fifth decline period Td5 is within the fluctuation range of the second constant value Td.

[0151] In an exemplary embodiment of the present application, the duration of the lift door's rise and fall can be self-corrected:

[0152] Tu1+Tu2+Tu3=Tu can be set, where Tu is a constant U;

[0153] Td1+Td2+Td3+Td4+Td5=Td, where Td is a constant D; or, Td0+Td1+Td2+Td3+Td4+Td5=Td.

[0154] In the exemplary embodiment of the present application, the new product may cause inconsistent door opening and closing times for each host due to errors in materials and assembly. Alternatively, the air-conditioning host may have worn parts due to long-term operation, thereby affecting the door opening and closing times. That is, Tu is no longer a constant U, and Td is no longer a constant D. At this time, the host can calculate Tu through the upper limit sensor and the lower limit sensor. If Tu is within the ±5% deviation range of the constant U, Tu1, Tu2 and Tu3 can be kept unchanged; otherwise, the host can change Tu1, Tu2 and / or Tu3 so that Tu is within the ±5% deviation range of the constant U, thereby maintaining the consistency of the host's door opening time.

[0155] In the exemplary embodiment of the present application, similarly, by adjusting Td1, Td2, Td3, Td4 and Td5 (or, Td0, Td1, Td2, Td3, Td4 and Td5), Td is made within the ±5% deviation range of the constant D, thereby maintaining the consistency of the host's closing time.

[0156] In an exemplary embodiment of the present application, Figure 9 This is a standard door opening drive control curve diagram, where Tu1+Tu2+Tu3=constant U.

[0157] In an exemplary embodiment of the present application, when the host calculates that the door opening time is greater than the constant U through the upper limit sensor and the lower limit sensor, the host can achieve the effect of speeding up by shortening Tu1 time, increasing Tu2 time, and changing the curvature of Tu3, thereby reducing the door opening time and tending to the constant U, thereby stabilizing the door opening time of the lift door. Figure 10 shown.

[0158] In an exemplary embodiment of the present application, when the host calculates that the door opening time is less than the constant U through the upper limit sensor and the lower limit sensor, the host can increase the Tu1 time, reduce the Tu2 time, and change the curvature of Tu3 to achieve a deceleration effect, thereby increasing the door opening time and tending to the constant U, thereby stabilizing the door opening time of the lift door. Figure 11 shown.

[0159] In an exemplary embodiment of the present application, Figure 12This is a standard door closing drive control curve diagram, where Td1+Td2+Td3+Td4+Td5+Td6=constant D.

[0160] In an exemplary embodiment of the present application, when the host calculates that the closing time is greater than the constant U through the upper and lower limit sensors, the host can increase the Td3 time, shorten the Td4 time, and change the curvature of Td5 to achieve a speed-up effect, thereby shortening the closing time and tending to the constant D, thereby stabilizing the closing time of the lift door. Figure 13 shown.

[0161] In an exemplary embodiment of the present application, when the host calculates that the closing time is less than the constant U through the upper and lower limit sensors, the host can shorten the Td3 time, increase the Td4 time, and change the curvature of Td5 to achieve a deceleration effect, thereby increasing the closing time and tending to the constant D, thereby stabilizing the closing time of the lift door. Figure 14 shown.

[0162] In an exemplary embodiment of the present application, the self-correcting closed-loop control diagram of the lifting door lifting time can be as follows: Figure 15 shown.

[0163] In the exemplary embodiments of the present application, the embodiments of the present application include at least the following advantages:

[0164] 1. It can make the DC motor start smoothly, protect the motor and transmission structure, and avoid irreversible damage to the motor and transmission structure caused by starting with full power driving load; that is, it protects the motor and transmission structure, lifting door, and door frame, and prolongs their life;

[0165] 2. Controlling the speed of the lift door when it reaches the upper and lower limits can effectively reduce the noise caused by violent impacts, provide good buffering protection for the door frame, and extend the life of the lift door. Slow closing also effectively protects users from accidental injuries. In other words, it reduces the opening and closing noise of the lift door, improves the product quality, and enhances the user experience. Controlling the opening and closing speed of the lift door and slow closing protects user safety, effectively improving product safety.

[0166] 3. The self-correcting closed-loop control of the lift door significantly improves the consistency of the host product's door closing, reducing subsequent maintenance costs caused by component errors, wear, and assembly deviations, significantly improving efficiency and economic benefits. Specifically, it improves the consistency of the host product's lift door opening and closing times, reducing labor debugging and maintenance costs, and improving production efficiency and corporate benefits.

[0167] The present application also provides a temperature regulating device 1, such as Figure 16As shown, it may include: a sub-machine 12, a lifting door 13 for allowing the sub-machine to move out of or into the warehouse, a motor 2 for driving the lifting door to rise and fall, a processor 3 and a computer-readable storage medium 4. The computer-readable storage medium 4 may store instructions. When the instructions are executed by the processor 3, any of the above-mentioned temperature control device control methods can be implemented.

[0168] In the exemplary embodiment of the present application, the temperature adjustment device may include but is not limited to air conditioners, fans, etc. The embodiment of the present application may be described below using an air conditioner as an example.

[0169] In the exemplary embodiment of the present application, the motor 2 may be a single motor or multiple motors. For example, the motor 2 may include a first motor and a second motor. The first motor may be used to control the lift door's ascent, while the second motor may be used to control the lift door's descent. When a single motor is used, the lift door's ascent and descent may be controlled separately by forward and reverse rotation. The specific implementation of the motor is not limited herein.

[0170] In the exemplary embodiment of the present application, there is no restriction on the specific location, quantity, type, etc. of the motor 2, which can be defined according to different needs.

[0171] In the exemplary embodiments of the present application, Figure 2 As shown, the temperature regulating device 1 (such as an air conditioner) may include: a main unit 11, a sub-unit 12, a lifting door 13 and a storage compartment 14. The main unit 11 may be the internal unit body of the temperature regulating device, and its main function may be to realize basic functions such as cooling and heating. Air guide strips 17 are provided on both sides of the main unit 11. The sub-unit 12 may be a movable small machine stored inside the main unit. When the sub-unit is required to perform a task, it can leave the main unit and go to a designated location. The lifting door 13 may be a door used to open or close so that the sub-unit 12 can enter or exit the compartment, and the door can be opened or closed by lifting. The storage compartment 14 may be a storage space inside the main unit 11 for placing the sub-unit 12. The lifting door 13 may be a door used to open or close the storage compartment 14.

[0172] In an exemplary embodiment of the present application, when the slave 12 is located in the lower space of the main unit 11, opening the lift door 13 may cause the lift door 13 to ascend, and closing the lift door 13 may cause the lift door 13 to descend. When the slave 12 is located in the upper space of the main unit 11, opening the lift door 13 may cause the lift door 13 to descend, and closing the lift door 13 may cause the lift door 13 to ascend.

[0173] In an exemplary embodiment of the present application, the structural diagram of the storage bin 14 of the temperature regulating device 1 can be as follows: Figure 3 As shown, the actual diagram of the slave 12 can be as shown in FIG. Figure 4 shown.

[0174] In an exemplary embodiment of the present application, the handset 12 can be charged in the storage compartment 14 via a charging dock 16, or can be moved out to perform other tasks. A lift door 13 can be provided in front of the storage compartment 14 for the handset 12, and sliding guide rails 15 can be provided on both sides of the lift door 13. Only when the lift door 13 is opened (raised) can the handset 12 enter and exit the storage compartment 14.

[0175] In an exemplary embodiment of the present application, the processor 3 can be a control device specifically used to control the sub-machine 12 to enter or exit the warehouse, or it can be a control device for the entire temperature control device. The specific implementation method of the processor is not limited here.

[0176] In an exemplary embodiment of the present application, a method for controlling the temperature adjustment device for controlling the lifting door 13 to move the sub-machine 12 into or out of the warehouse may include:

[0177] Get the request information when the slave machine leaves or enters the warehouse;

[0178] Based on the request information, the motor is controlled to operate in a preset first operating mode using a first PWM wave to gradually increase the lifting speed of the lift door and then gradually decrease the lifting speed of the lift door. The first operating mode may include gradually increasing the speed of the motor from zero to a preset first speed and then gradually decreasing from the first speed, so that the lift door accelerates smoothly when it starts to rise and decelerates smoothly before reaching a preset upper limit.

[0179] After the lift door rises to its proper position, the sub-machine is controlled to move in or out of the warehouse;

[0180] After the slave unit enters or exits the warehouse, the motor is controlled to operate in a preset second operating mode using a second PWM wave to gradually increase the descent speed of the lift door; and the motor is controlled to operate in a preset third operating mode using a first PWM wave to gradually decrease the descent speed of the lift door. The first PWM wave and the second PWM wave have opposite pulse directions. The second operating mode may include gradually increasing the motor speed from zero to a preset second speed, and then gradually decreasing from the second speed to zero. The third operating mode may include gradually increasing the motor speed from zero to a preset third speed. This allows the lift door to smoothly accelerate when it begins to descend and smoothly decelerate before reaching the preset lower limit.

[0181] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may include:

[0182] During a preset first rising period Tu1 when the lift door 13 begins to rise, the motor may be driven step by step using a first PWM wave with a duty cycle from zero to a preset first duty cycle, thereby increasing the motor speed step by step from zero speed to the first speed.

[0183] During the second rising period Tu2 before the lifting door rises to the preset upper limit, the first PWM wave can be used to drive the motor step by step with a duty cycle from a preset first duty cycle to a preset second duty cycle, so that the motor can be gradually reduced from the first speed to the fourth speed until the lifting door reaches the preset upper limit; wherein the first duty cycle is greater than or equal to the second duty cycle.

[0184] In the exemplary embodiment of the present application, the first speed can be defined according to different air-conditioning types, different lift door heights or different application scenarios, and the specific value of the first speed is not limited here.

[0185] In the exemplary embodiment of the present application, it is known that the motor speed will increase as the duty cycle of the pulse width modulation (PWM) control increases, and decrease as the duty cycle decreases. Therefore, the embodiment of the present application can directly achieve smooth starting and smooth deceleration of the motor by performing PWM control on the motor and adjusting the duty cycle of the PWM control, so that the lifting door driven by the motor moves smoothly accordingly.

[0186] In an exemplary embodiment of the present application, when the air conditioner master control (which can be the main unit 11 of the air conditioner) receives the entry request information or exit request information of the sub-machine 12, it will first control the lifting door 13 to rise to open the storage bin 14. After controlling the sub-machine 12 to enter or exit the bin, it will control the lifting door 13 to descend to close the storage bin 14.

[0187] In an exemplary embodiment of the present application, during the ascending process of the lift door 13 , in order to make the lift door 13 reach a preset upper limit, the motor needs to overcome the gravity of the lift door 13 itself and drive the lift door 13 to ascend at a certain speed.

[0188] In an exemplary embodiment of the present application, after the main control receives the request information for exiting or entering the warehouse, before controlling the lifting door 13 to start rising, the current position of the lifting door 13 can be first determined. If the current lifting door 13 is not at the preset lower limit position, the lifting door 13 can be first reset to the lower limit position, and then the lifting door 13 can be controlled to start rising.

[0189] In an exemplary embodiment of the present application, this reset operation can also be performed each time the air conditioner is powered on. For example, after the cabinet air conditioner is powered on, the main unit 11 receives the sensor signals at the upper and lower limit positions, and combines the stored information from the last power failure to determine the current position of the lift door 13. If the lift door 13 is not currently at the lower limit position, the main unit can use a PWM wave with a set duty cycle (for example, 5%) to drive the motor upward. The lift door 13's own weight overcomes the driving force of the motor and slowly descends until the sensor at the lower limit position is triggered and reaches the lower limit position. If the lift door 13 is currently at the lower limit position, the main unit 11 can communicate with the slave unit 12, and the slave unit 12 can request to enter or exit the storage compartment 14.

[0190] In an exemplary embodiment of the present application, the first duty cycle may include but is not limited to 80%-100%, for example, 100% may be selected.

[0191] In an exemplary embodiment of the present application, after the motor starts to start, the host can drive the motor with a duty cycle from 0 to 100% within time Tu1, allowing the motor to start smoothly, reducing the impact of directly driving the motor with a full duty cycle on the transmission structure, and extending the life of the transmission structure.

[0192] In an exemplary embodiment of the present application, the second duty cycle is smaller than the first duty cycle. The second duty cycle may include but is not limited to 10%-20%. For example, 10% may be selected.

[0193] In an exemplary embodiment of the present application, before the lifting door 13 is about to reach the upper limit, within time Tu3, the host can send a duty cycle drive motor with a duty cycle from 100% to 10%, allowing the motor to decelerate smoothly (for example, to the fourth speed) and reach the upper limit, avoiding excessive impact on the door frame due to excessive speed, protecting the lifting door 13, reducing noise, and improving user experience.

[0194] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may further include:

[0195] After the second rising period, the first PWM wave can be used to gradually drive the motor at a duty cycle from the second duty cycle to zero, thereby reducing the motor speed from the fourth speed to zero. In the exemplary embodiment of the present application, the motor can finally be driven at a duty cycle of 10% to balance the weight of lift door 13 and keep lift door 13 stopped without stalling.

[0196] In an exemplary embodiment of the present application, controlling the motor to operate in a preset first operating mode using a first PWM wave according to the request information may further include:

[0197] In a third rising period Tu3 between the first rising period Tu1 and the second rising period Tu2 , the motor may be driven with a first PWM wave at a first duty cycle, so that the motor may maintain a first speed.

[0198] In an exemplary embodiment of the present application, after time Tu1, the host can still drive the motor at a full duty cycle within time Tu3, so that the lifting door 13 reaches the fastest speed to open the lifting door 13 in the shortest time, and then enter the deceleration stage of time Tu2.

[0199] In an exemplary embodiment of the present application, controlling the motor to operate in a preset second operating mode using the second PWM wave may include:

[0200] During a preset first descending period Td1 when the lift door 13 begins to descend, the motor may be driven step by step using a second PWM wave with a duty cycle ranging from zero to a preset third duty cycle, thereby increasing the motor speed step by step from zero to the second speed; and increasing the acceleration of the lift door when descending from zero to the first acceleration.

[0201] In the preset second falling period Td2 after the first falling period, a second PWM wave can be used to drive the motor step by step with a duty cycle from the third duty cycle to zero, so that the motor can be reduced step by step from the second speed to zero, so that the acceleration of the lifting door when it descends can be reduced from the first acceleration to zero, thereby reducing the downward acceleration of the lifting door 13 during the downward movement.

[0202] In the exemplary embodiment of the present application, the second speed can be defined according to different air-conditioning types, different lift door heights or different application scenarios, and the specific value of the second speed is not limited here.

[0203] In an exemplary embodiment of the present application, the method may further include:

[0204] Before controlling the motor to operate in a preset second operating mode, it is possible to detect whether the motor has stopped operating;

[0205] When it is determined that the motor has stopped running, the motor can be controlled to start running in the second operating mode;

[0206] When it is determined that the motor has not stopped running, the first PWM wave can be used to control the motor, and the duty cycle used to drive the motor can be gradually reduced to zero, so that the motor can be controlled to stop running.

[0207] In an exemplary embodiment of the present application, when the sub-machine 12 has come out of the storage bin 14 or has entered the storage bin 14, and has communicated with the host 11 to confirm ok; before starting to control the operation of the motor, the host can reduce the PWM duty cycle of the motor driving the lifting door to run upward within the time Td0, for example, from 10% to 0, so that the motor starts to smoothly descend until it stops.

[0208] In an exemplary embodiment of the present application, the third duty cycle may include but is not limited to 10%-20%, for example, 10% may be selected.

[0209] In an exemplary embodiment of the present application, after time Td0, within time Td1, the host 11 can control the motor to execute a downward PWM wave, that is, control the motor to rotate to drive the lifting door 13 to run downward. The duty cycle of the PWM wave can be from 0 to 10%, so that the motor accelerates smoothly and accelerates to the second speed.

[0210] In an exemplary embodiment of the present application, after the elevator 13 is driven by the motor to descend for a certain period of time, the duty cycle of the control motor can be reduced to reduce the acceleration of the descending process of the lift door 13 to prepare for the smooth closing of the lift door.

[0211] In an exemplary embodiment of the present application, during the time Td2 , the host may control the duty cycle from 10% to 0, thereby reducing the acceleration of the lift door 13 .

[0212] In an exemplary embodiment of the present application, controlling the motor to operate in a preset second operating mode using a second PWM wave may further include:

[0213] In a third falling period Td3 between the first falling period Td1 and the second falling period Td2 , the motor may be driven by using a second PWM wave with a third duty cycle, so that the motor may maintain a second speed.

[0214] In an exemplary embodiment of the present application, after time Td1, the host can maintain a duty cycle of 10% within time Td3, so that the lift door 13 gradually accelerates to the maximum speed to achieve closing of the lift door 13 in the shortest time; then enters time Td2.

[0215] In an exemplary embodiment of the present application, controlling the motor to operate in a preset third operating mode using the first PWM wave may include:

[0216] In the fourth falling period Td4 after the second falling period Td2, the first PWM wave can be used to drive the motor step by step with a duty cycle from zero to a fourth duty cycle, so that the motor speed increases step by step from zero speed to the third speed, thereby slowing down the lift door.

[0217] In an exemplary embodiment of the present application, the fourth duty cycle may include but is not limited to 5%-10%, for example, 5% may be selected.

[0218] In an exemplary embodiment of the present application, after time Td2, the host can control the motor to execute an upward PWM wave within time Td4, and the duty cycle can be from 0 to 5%, allowing the motor to decelerate smoothly.

[0219] In an exemplary embodiment of the present application, controlling the motor to operate in a preset third operating mode using the first PWM wave may further include:

[0220] In the fifth falling period Td5 after the fourth falling period Td4, the first PWM wave can be used to drive the motor with a fourth duty cycle, so that the motor is maintained at the third speed, and the reverse acceleration of the lifting door when it descends is maintained at the first acceleration until the lifting door reaches the preset lower limit and the speed is reduced to zero.

[0221] In an exemplary embodiment of the present application, after time Td4, the host can use an upward PWM wave (first PWM wave) to control the motor within time Td5, maintaining a duty cycle of 5%, and slowly decreasing until the lower limit sensor is triggered and reaches the lower limit, the duty cycle becomes 0, and the lifting door remains stationary.

[0222] In an exemplary embodiment of the present application, the method may further include:

[0223] After the lift door is lifted, it is possible to detect whether the sum of the first rising period Tu1, the second rising period Tu2, and the third rising period Tu3 is within the fluctuation range of the first constant value Tu;

[0224] When it is determined that the sum of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 is included in the fluctuation range of the first constant value Tu, the durations of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 can be kept unchanged;

[0225] When it is determined that the sum of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 is not included in the fluctuation range of the first constant value Tu, one or more of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 can be adjusted so that the sum of the first rising period Tu1, the second rising period Tu2 and the third rising period Tu3 can be within the fluctuation range of the first constant value Tu.

[0226] In an exemplary embodiment of the present application, the method may further include:

[0227] After the lift door is lowered, detecting whether the sum of the first lowering period Td1, the second lowering period Td2, the third lowering period Td3, the fourth lowering period Td4 and the fifth lowering period Td5 is within the fluctuation range of the second constant value Td;

[0228] When it is determined that the sum of the first falling period Td1, the second falling period Td2, the third falling period Td3, the fourth falling period Td4 and the fifth falling period Td5 is within the fluctuation range of the second constant value Td, the durations of the first falling period Td1, the second falling period Td2, the third falling period Td3, the fourth falling period Td4 and the fifth falling period Td5 can be kept unchanged;

[0229] When it is determined that the sum of the first decline period Td1, the second decline period Td2, the third decline period Td3, the fourth decline period Td4 and the fifth decline period Td5 is not within the fluctuation range of the second constant value Td, one or more of the first decline period Td1, the second decline period Td2, the third decline period Td3, the fourth decline period Td4 and the fifth decline period Td5 can be adjusted so that the sum of the first decline period Td1, the second decline period Td2, the third decline period Td3, the fourth decline period Td4 and the fifth decline period Td5 is within the fluctuation range of the second constant value Td.

[0230] In an exemplary embodiment of the present application, the duration of the lift door's rise and fall can be self-corrected:

[0231] Tu1+Tu2+Tu3=Tu can be set, where Tu is a constant U;

[0232] Td1+Td2+Td3+Td4+Td5=Td, where Td is a constant D; or, Td0+Td1+Td2+Td3+Td4+Td5=Td.

[0233] In the exemplary embodiment of the present application, the new product may cause inconsistent door opening and closing times for each host due to errors in materials and assembly. Alternatively, the air-conditioning host may have worn parts due to long-term operation, thereby affecting the door opening and closing times. That is, Tu is no longer a constant U, and Td is no longer a constant D. At this time, the host can calculate Tu through the upper limit sensor and the lower limit sensor. If Tu is within the ±5% deviation range of the constant U, Tu1, Tu2 and Tu3 can be kept unchanged; otherwise, the host can change Tu1, Tu2 and / or Tu3 so that Tu is within the ±5% deviation range of the constant U, thereby maintaining the consistency of the host's door opening time.

[0234] In the exemplary embodiment of the present application, similarly, by adjusting Td1, Td2, Td3, Td4 and Td5 (or, Td0, Td1, Td2, Td3, Td4 and Td5), Td is made within the ±5% deviation range of the constant D, thereby maintaining the consistency of the host's closing time.

[0235] In an exemplary embodiment of the present application, Figure 9 This is a standard door opening drive control curve diagram, where Tu1+Tu2+Tu3=constant U.

[0236] In an exemplary embodiment of the present application, when the host calculates that the door opening time is greater than the constant U through the upper limit sensor and the lower limit sensor, the host can achieve the effect of speeding up by shortening Tu1 time, increasing Tu2 time, and changing the curvature of Tu3, thereby reducing the door opening time and tending to the constant U, thereby stabilizing the door opening time of the lift door. Figure 10 shown.

[0237] In an exemplary embodiment of the present application, when the host calculates that the door opening time is less than the constant U through the upper limit sensor and the lower limit sensor, the host can increase the Tu1 time, reduce the Tu2 time, and change the curvature of Tu3 to achieve a deceleration effect, thereby increasing the door opening time and tending to the constant U, thereby stabilizing the door opening time of the lift door. Figure 11 shown.

[0238] In an exemplary embodiment of the present application, Figure 12 This is a standard door closing drive control curve diagram, where Td1+Td2+Td3+Td4+Td5+Td6=constant D.

[0239] In an exemplary embodiment of the present application, when the host calculates that the closing time is greater than the constant U through the upper and lower limit sensors, the host can increase the Td3 time, shorten the Td4 time, and change the curvature of Td5 to achieve a speed-up effect, thereby shortening the closing time and tending to the constant D, thereby stabilizing the closing time of the lift door. Figure 13 shown.

[0240] In an exemplary embodiment of the present application, when the host calculates that the closing time is less than the constant U through the upper and lower limit sensors, the host can shorten the Td3 time, increase the Td4 time, and change the curvature of Td5 to achieve a deceleration effect, thereby increasing the closing time and tending to the constant D, thereby stabilizing the closing time of the lift door. Figure 14 shown.

[0241] In an exemplary embodiment of the present application, the self-correcting closed-loop control diagram of the lifting door lifting time can be as follows: Figure 15 shown.

[0242] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A temperature control device control method, characterized in that: The temperature adjustment device includes: a sub-machine, a lifting door for the sub-machine to enter or exit the warehouse, and a motor for driving the lifting door to rise and fall; the method includes: Obtaining request information for the sub-machine to leave or enter the warehouse; controlling the motor to operate in a preset first operating mode using a first pulse width modulation (PWM) wave according to the request information, so as to gradually increase the ascending speed of the lift door and then gradually decrease the ascending speed of the lift door; After the lifting door rises to its proper position, the sub-machine is controlled to move out of or into the warehouse; After the sub-machine is moved out of or into the warehouse, the motor is controlled to operate in a preset second operating mode using a second PWM wave to gradually increase the descending speed of the lift door; and the motor is controlled to operate in a preset third operating mode using a first PWM wave to gradually decrease the descending speed of the lift door; wherein the pulse directions of the first PWM wave and the second PWM wave are opposite; The step of controlling the motor to operate in a preset first operating mode using a first pulse width modulation (PWM) wave according to the request information includes: In a first rising period when the lift door starts to rise, the motor is driven step by step using the first PWM wave at a plurality of duty cycles ranging from zero to a first duty cycle, so that the motor speed increases step by step from zero to the first speed; In a second rising period before the lifting door rises to a preset upper limit, the first PWM wave is used to drive the motor step by step with multiple duty cycles from a first duty cycle to a second duty cycle, so that the motor gradually reduces the first speed to a fourth speed until the lifting door reaches the preset upper limit; wherein, the first duty cycle is greater than the second duty cycle.

2. The temperature control method according to claim 1, wherein: The method further comprises: controlling the motor to operate in a preset first operating mode using a first pulse width modulation (PWM) wave according to the request information; After the second rising period, the first PWM wave is used to drive the motor step by step with multiple duty cycles ranging from the second duty cycle to zero, so as to reduce the motor speed from the fourth speed to zero speed.

3. The temperature control method according to claim 1, wherein: The method further comprises: controlling the motor to operate in a preset first operating mode using a first pulse width modulation (PWM) wave according to the request information; In a third rising period between the first rising period and the second rising period, the motor is driven by using the first PWM wave with the first duty cycle, so that the motor is maintained at the first speed.

4. The temperature control method according to claim 1, wherein: The step of controlling the motor to operate in a preset second operating mode using a second PWM wave includes: During a first descending period when the lift door begins to descend, the motor is driven step by step using the second PWM wave at multiple duty cycles ranging from zero to a third duty cycle, so that the motor speed increases step by step from zero to a second speed; In a second falling period following the first falling period, the second PWM wave is used to drive the motor step by step with multiple duty cycles ranging from the third duty cycle to zero, so that the motor is reduced step by step from the second speed to zero.

5. The temperature control method according to claim 4, wherein: The method of controlling the motor to operate in a preset second operating mode using a second PWM wave further includes: In a third falling period between the first falling period and the second falling period, the motor is driven by using the second PWM wave with the third duty cycle to maintain the motor at the second speed.

6. The temperature control method according to claim 5, wherein: The controlling the motor to operate in a preset third operating mode using the first PWM wave includes: In a fourth falling period following the second falling period, the first PWM wave is used to drive the motor step by step with multiple duty cycles from zero to a fourth duty cycle, so that the motor speed increases step by step from zero speed to a third speed.

7. The temperature control method according to claim 6, wherein: The method of controlling the motor to operate in a preset third operating mode using the first PWM wave further includes: In a fifth falling period after the fourth falling period, the first PWM wave is used to drive the motor with the fourth duty cycle, so that the motor is maintained at the third speed until the lifting door reaches a preset lower limit.

8. The temperature control method according to claim 3, wherein: The method further comprises: After the lift door rises to its proper position, detecting whether the sum of the durations of the first rising period, the second rising period, and the third rising period is within a preset fluctuation range of a first constant value; Determining that the sum of the durations of the first rising period, the second rising period, and the third rising period is within a preset fluctuation range of the first constant value, and maintaining the durations of the first rising period, the second rising period, and the third rising period unchanged; Determine that the sum of the durations of the first rising period, the second rising period, and the third rising period is not within a preset fluctuation range of the first constant value, and adjust one or more of the first rising period, the second rising period, and the third rising period so that the sum of the durations of the first rising period, the second rising period, and the third rising period is within the preset fluctuation range of the first constant value.

9. The temperature control method according to claim 7, wherein: The method further comprises: After the lift door is lowered into position, detecting whether the sum of the durations of the first descending period, the second descending period, the third descending period, the fourth descending period, and the fifth descending period is within a preset fluctuation range of a second constant value; Determining that the sum of the durations of the first falling period, the second falling period, the third falling period, the fourth falling period, and the fifth falling period is within a preset fluctuation range of the second constant value, and maintaining the durations of the first falling period, the second falling period, the third falling period, the fourth falling period, and the fifth falling period unchanged; Determine that the sum of the durations of the first decline period, the second decline period, the third decline period, the fourth decline period and the fifth decline period is not within the preset fluctuation range of the second constant value, and adjust one or more of the first decline period, the second decline period, the third decline period, the fourth decline period and the fifth decline period so that the sum of the durations of the first decline period, the second decline period, the third decline period, the fourth decline period and the fifth decline period is within the preset fluctuation range of the second constant value.

10. A temperature regulating device, characterized in that: include: A sub-machine, a lifting door for the sub-machine to enter or exit a warehouse, a motor for driving the lifting door to rise and fall, a processor and a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed by the processor, the temperature adjustment device control method according to any one of claims 1 to 9 is implemented.

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