Method and device for diagnosing faults of air conditioner and lift door thereof

Abstract

The present application discloses a method and device for diagnosing faults in an air conditioner and its lift door. The method comprises: collecting one or more relevant data related to the lift door during the lift door's lifting process; the relevant data may include, but is not limited to, motor operation data of the lift motor driving the lift door, and / or captured images used to determine whether the lift door is in the correct position; detecting whether the relevant data meets a preset condition; and determining that a lift door currently has a lifting obstruction when the relevant data meets the preset condition. This embodiment enables accurate judgment of lift door lifting obstructions.

Description

Technical Field

[0001] This article relates to household appliance control technology, and in particular to a method and device for diagnosing faults of an air conditioner and its lift door. Background Art

[0002] At present, some air conditioner indoor units are composed of two parts: the main unit and the sub-unit. The main unit refers to the main body of the indoor unit, which can realize the basic functions of cooling and heating. A sub-unit storage compartment is set in the lower half of the main unit for storing the sub-unit. There is a lifting door in front of the sub-unit storage compartment.

[0003] The lift door is driven by two brushless DC motors to realize the lifting (opening) and lowering (closing) of the lift door, and is combined with sensors to determine whether the lift door is opened or closed.

[0004] The existing technical solutions have the following deficiencies:

[0005] 1. When the lift door is descending, no corresponding protective measures are taken to prevent people or other animals from being caught.

[0006] 2. If the lift door still does not close properly within the preset motor operating time, it is impossible to determine whether this is due to a person or other animal being trapped or a fault in the lift door itself. Therefore, there is a lack of a solution for accurately diagnosing lift door faults. Summary of the Invention

[0007] The embodiments of the present application provide a method and device for diagnosing faults of an air conditioner and a lift door thereof, which can accurately determine the lifting and lowering obstacles of the lift door.

[0008] An embodiment of the present application provides a lift door fault diagnosis method, which may include:

[0009] During the lifting process of the lift door, one or more relevant data related to the lift door may be collected; the relevant data may include but is not limited to: motor operation data when the lift motor drives the lift door to operate, and / or captured images used to determine whether the lift door is in the correct position;

[0010] Detecting whether the relevant data meets the set preset conditions;

[0011] When it is determined that the relevant data meets the preset conditions, it can be determined that there is currently a lifting obstacle to the lifting door.

[0012] In an exemplary embodiment of the present application, when the relevant data includes the motor operation data;

[0013] The detecting whether the relevant data meets the preset condition may include: detecting whether the currently acquired motor operation data meets the characteristics of the motor operation data corresponding to the lifting motor when it is locked.

[0014] In an exemplary embodiment of the present application, the method may further include:

[0015] If it is detected that the current motor operation data meets the characteristics of the motor operation data corresponding to the case where the lifting motor is locked, the current number of locked times is increased by 1;

[0016] The current position of the lift door is recorded, and the lift motor is controlled to run in the reverse direction to drive the lift door to move in the reverse direction. After the lift door has moved in the reverse direction for a preset distance, the lift motor is controlled to run in the forward direction again to control the lift door to move in the forward direction again.

[0017] In an exemplary embodiment of the present application, the method may further include:

[0018] After the first detection of the first set time period that the current motor operation data meets the characteristics of the motor operation data when the lifting motor is stalled (i.e., after the first set time period that the lifting motor is stalled), the current stall count is compared with a preset first count threshold;

[0019] If the current number of stalls is greater than or equal to a preset first threshold, it can be determined that the lifting door has the lifting obstacle because the lifting door has a malfunction.

[0020] If the current number of stalls is less than a preset first threshold, it may be determined that the lifting obstacle to the lift door is caused by a person or object being trapped at the lift door.

[0021] In an exemplary embodiment of the present application, the motor operation data may include: motor current, and / or motor speed.

[0022] In an exemplary embodiment of the present application, when the motor operation data includes the motor current, detecting whether the current motor operation data meets the characteristics of the motor operation data corresponding to the lifting motor in the event of a stall may include:

[0023] Detecting whether the current motor current has undergone a sudden change, and the magnitude of the sudden change is greater than or equal to a preset sudden change threshold; if it is detected that the current motor current has undergone a sudden change, and the magnitude of the sudden change is greater than or equal to the preset sudden change threshold, the current motor current and the motor current corresponding to the lifting motor in the event of a stall can be determined;

[0024] When the motor operation data includes the motor speed, detecting whether the current motor operation data meets the characteristics of the motor operation data corresponding to the lifting motor in the case of stall may include:

[0025] Detect whether the difference between the given motor speed and the current feedback motor speed is greater than or equal to a preset difference threshold; if it is detected that the difference between the given motor speed and the current feedback motor speed is greater than or equal to the preset difference threshold, it can be determined that the current motor speed has met the motor speed corresponding to the lifting motor in the event of a stall.

[0026] In an exemplary embodiment of the present application, the relevant data may include: a photographed image used to determine whether the lifting position of the lifting door is in place;

[0027] The preset condition may include: the captured image does not contain a preset limit image mark.

[0028] In an exemplary embodiment of the present application, the relevant data may include: motor operation data when the lifting motor is running and a captured image used to determine whether the lifting position of the lifting door is in place; the motor operation data may include: motor operation time;

[0029] The preset conditions may include: the captured image does not contain a preset limit image mark, and the motor running time has reached a set time.

[0030] In an exemplary embodiment of the present application, the method may further include:

[0031] When it is detected that the current relevant data has met the preset conditions, the number of up / down failures can be increased by 1;

[0032] The current position of the lifting door is recorded, and the lifting motor is controlled to run in the reverse direction to drive the lifting door to move in the reverse direction. After the lifting door moves in the reverse direction for a preset distance, the lifting motor is controlled to run in the forward direction again to control the lifting door to move in the forward direction.

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

[0034] After the first detection that the current relevant data meets the second set time period of the preset condition, the current number of failed ascent / descent attempts is compared with a preset second number threshold;

[0035] If the current number of lifting / lowering failures is greater than or equal to a preset second number threshold, it can be determined that the lifting obstacle of the lift door may be caused by a lift door failure.

[0036] If the current number of failed lifting / lowering attempts is less than a preset second threshold, it may be determined that the lifting obstacle to the lift door may be caused by a person or object being trapped at the lift door.

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

[0038] Before acquiring the captured image, the light brightness in the current environment may be detected;

[0039] If the light brightness in the current environment is greater than or equal to a preset light brightness threshold, the preset fill light device can be controlled to remain in a closed state, so as not to fill light for the current environment;

[0040] If the light brightness in the current environment is less than a preset light brightness threshold, the preset fill light device can be controlled to enter an on state, thereby filling light for the current environment.

[0041] An embodiment of the present application further provides a lift door fault diagnosis device, which may include: 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 one of the above-mentioned lift door fault diagnosis methods may be implemented.

[0042] An embodiment of the present application further provides an air conditioner, which may include: a lifting door and the lifting door fault diagnosis device.

[0043] In an exemplary embodiment of the present application, the air conditioner may further include: a sub-unit, the sub-unit may be provided with a shooting device and a fill light device, and a limited position image mark may be provided in the lifting door.

[0044] In an exemplary embodiment of the present application, the position limit image mark may include an upper position limit image mark and a lower position limit image mark;

[0045] The upper limit image mark can be set at the lower inner side of the lifting door;

[0046] The lower limit image mark can be set on the upper inner side of the lifting door.

[0047] In an exemplary embodiment of the present application, the fill light device may include: an infrared fill light device.

[0048] Compared to related technologies, the embodiments of this application may include: during the lifting process of a lift door, one or more relevant data related to the lift door can be collected; the relevant data may include, but is not limited to: motor operation data when the lift motor drives the lift door, and / or captured images used to determine whether the lift door is in the correct position; detecting whether the relevant data meets a set preset condition; when it is determined that the relevant data meets the preset condition, it can be determined that there is a lifting obstacle to the lift door. Through this embodiment, accurate judgment of lifting obstacle conditions is achieved, providing a technical foundation for achieving anti-pinch purposes and avoiding damage to people or objects.

[0049] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. Other advantages of the present application can be realized and obtained by the solutions described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0051] Figure 1 This is a flow chart of a lift door fault diagnosis method according to an embodiment of the present application;

[0052] Figure 2 This is a schematic structural diagram of a storage compartment of an air conditioner according to an embodiment of the present application;

[0053] Figure 3 This is a schematic diagram of a sub-machine according to an embodiment of the present application;

[0054] Figure 4 A schematic diagram of two Hall sensors and one magnetic element according to an embodiment of the present application;

[0055] Figure 5 A schematic diagram of a solution with two magnetic elements and a Hall sensor according to an embodiment of the present application;

[0056] Figure 6 A schematic diagram of a distance measuring sensor according to an embodiment of the present application;

[0057] Figure 7 This is a wiring diagram of a brushless DC motor according to an embodiment of the present application;

[0058] Figure 8This is a schematic diagram of a lift door closing process when the motor operation data of the embodiment of the present application is the motor current;

[0059] Figure 9 This is a schematic diagram showing the principle of current detection using a series resistor according to an embodiment of the present application;

[0060] Figure 10 This is a schematic diagram of the principle of current detection using a Hall current sensor according to an embodiment of the present application;

[0061] Figure 11 A schematic diagram of a current curve when the motor of an embodiment of the present application changes from a normal operating state to a stalled state;

[0062] Figure 12 This is a schematic diagram of the lifting door closing process when the motor operation data of the embodiment of the present application is the motor speed;

[0063] Figure 13 This is a schematic diagram of a given speed curve in an embodiment of the present application;

[0064] Figure 14 This is a schematic diagram of a speed curve during normal operation of the motor according to an embodiment of the present application;

[0065] Figure 15 This is a schematic diagram of a speed curve of a motor in a stalled state according to an embodiment of the present application;

[0066] Figure 16 This is a schematic diagram of an air conditioning cabinet according to Example 2 of the embodiments of the present application;

[0067] Figure 17 This is a schematic diagram of the distribution of two position limiting image marks on the inner side of the lifting door in an embodiment of the present application;

[0068] Figure 18 This is a schematic diagram of the first lifting door control process of Example 2 in the embodiments of the present application;

[0069] Figure 19 This is a schematic diagram of a second lift door control process in Example 2 of the embodiments of the present application;

[0070] Figure 20 This is a schematic diagram of a third lift door control process in Example 2 of the embodiments of the present application;

[0071] Figure 21 This is a schematic diagram of a fourth lifting door control process of Example 2 in the embodiments of the present application;

[0072] Figure 22 This is a block diagram of the lift door fault diagnosis device according to an embodiment of the present application;

[0073] Figure 23This is a block diagram of the air conditioner composition of an embodiment of the present application. DETAILED DESCRIPTION

[0074] This application describes multiple embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described herein. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0075] This application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive solution defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the appended claims and their equivalents, the embodiments are not subject to other limitations. In addition, various modifications and changes may be made within the scope of protection of the appended claims.

[0076] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps in the specific order described. As will be understood by those skilled in the art, other orders of steps are also possible. Therefore, the specific order of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0077] The present application embodiment provides a method for diagnosing a lift door fault, such as Figure 1 As shown, the method may include steps S101-S103:

[0078] S101. During the lifting process of a lift door, one or more relevant data related to the lift door may be collected; the relevant data may include, but is not limited to: motor operation data when a lift motor drives the lift door to operate, and / or captured images used to determine whether the lift door is in the correct position;

[0079] S102, detecting whether the relevant data meets the set preset conditions;

[0080] S103: When it is determined that the relevant data meets the preset conditions, it can be determined that there is currently an obstacle to the lifting door.

[0081] In an exemplary embodiment of the present application, the lifting door may be a lifting door provided on a household appliance, and the household appliance may include but is not limited to: an air conditioner, a fan, a refrigerator, etc. The embodiment of the present application is described below using an air conditioner as an example.

[0082] In an exemplary embodiment of the present application, the air conditioner 1 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 air conditioner, and its main function may be to realize basic functions such as cooling and heating. Air guide strips 17 may be 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 needed 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 be moved in or out of 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, and the above-mentioned lifting door 13 may be a door used to open or close the storage compartment 14.

[0083] 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.

[0084] In the exemplary embodiment of the present application, the embodiment of the present application is described by taking the sub-unit 12 as an example to be located in the lower space of the main unit 11. The structural diagram of the storage compartment 14 of the air conditioner 1 can be as follows: Figure 2 As shown, the actual diagram of the slave 12 can be as shown in FIG. Figure 3 shown.

[0085] In an exemplary embodiment of the present application, the handset 12 can be charged in the storage compartment or 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.

[0086] In an exemplary embodiment of the present application, when the handset 12 leaves the main unit 11 and successfully moves out of the storage compartment 14, when the lift door 13 closes (descends), a child or other animal may be caught by the lift door 13, causing the lift motor (or simply, the motor) to stall and prevent the lift door 13 from closing properly. When the handset 12 enters the main unit 11, the lift door 13 descends only after the handset 12 successfully enters the storage compartment 14. During this descent, a child or other animal may be caught by the lift door 13 in the gap between the storage compartment 14 and the handset 12, causing the motor to stall and prevent the lift door 13 from closing properly. Furthermore, a fault in the lift door 13 itself can also cause the motor to stall, preventing the lift door 13 from opening or closing successfully. For these reasons, an embodiment of the present application proposes a lift door fault diagnosis method, the primary purpose of which is to reduce the risk of damage to people (children) or animals caused by the lift door 13 while using certain strategies to identify whether the lift door 13 is faulty.

[0087] In the exemplary embodiments of the present application, the embodiment scheme of the present application may include multiple different embodiments, and the multiple embodiments are described below in detail.

[0088] Example 1

[0089] In an exemplary embodiment of the present application, when the relevant data includes the motor operation data, the preset condition may include: meeting the motor operation data corresponding to the lifting motor in the event of a stall.

[0090] In an exemplary embodiment of the present application, the motor operation data may include but is not limited to: motor current, and / or motor speed.

[0091] In an exemplary embodiment of the present application, it is possible to determine whether the motor is stalled by detecting the motor current, thereby determining whether the lift door 13 itself has a fault.

[0092] In an exemplary embodiment of the present application, when the motor operation data includes the motor current, detecting whether the current motor operation data has characteristics corresponding to the motor operation data of the lifting motor when a stall occurs may include:

[0093] Detect whether the current motor current has undergone a mutation, and the mutation amplitude is greater than or equal to the preset mutation threshold; if it is detected that the current motor current has undergone a mutation, and the mutation amplitude is greater than or equal to the preset mutation threshold, it can be determined that the current motor current is consistent with the motor current corresponding to the lifting motor in the event of a stall.

[0094] In an exemplary embodiment of the present application, it is also possible to determine whether the motor is blocked by detecting the motor speed, thereby determining whether the lifting door 13 itself has a fault.

[0095] In an exemplary embodiment of the present application, when the motor operation data is the motor speed, detecting whether the current motor operation data meets the characteristics of the motor operation data corresponding to the lifting motor in the event of a stall may include:

[0096] Detect whether the difference between the given motor speed and the current feedback motor speed is greater than or equal to a preset difference threshold; if it is detected that the difference between the given motor speed and the current feedback motor speed is greater than or equal to the preset difference threshold, it can be determined that the current motor speed has met the motor speed corresponding to the lifting motor in the event of a stall.

[0097] In an exemplary embodiment of the present application, after determining that the motor is stalled through motor operation data, the cause of the motor stall can be analyzed by determining the number of times the motor is stalled, thereby better determining whether the lifting door 13 itself has a fault.

[0098] In an exemplary embodiment of the present application, the method may further include:

[0099] If it is detected that the current motor operation data has met the motor operation data corresponding to the case where the lifting motor is blocked, the number of times the lifting motor is blocked is increased by 1;

[0100] The current position of the lift door is recorded, and the lift motor is controlled to run in the reverse direction to drive the lift door to move in the reverse direction. After the lift door has moved in the reverse direction for a preset distance, the lift motor is controlled to run in the forward direction again to control the lift door to move in the forward direction again.

[0101] In an exemplary embodiment of the present application, the method may further include:

[0102] After the first detection of the first set time period that the current motor operation data meets the characteristics of the motor operation data when the lifting motor is stalled (i.e., after the first set time period that the lifting motor is stalled), the current stall count is compared with a preset first count threshold;

[0103] If the current number of stalls is greater than or equal to a preset first threshold, it can be determined that the lifting door has the lifting obstacle because the lifting door has a malfunction.

[0104] If the current number of stalls is less than a preset first threshold, it may be determined that the lifting obstacle to the lift door is caused by a person or object being trapped at the lift door.

[0105] In an exemplary embodiment of the present application, the position detection strategy of the lifting door 13 may adopt any one of the following:

[0106] 1. Use multiple (such as two) Hall sensors and a magnetic element (such as a magnet), such as Figure 4 As shown, two Hall sensors (one upper limit sensor and one lower limit sensor), namely, a first Hall sensor 21 and a second Hall sensor 22, can be installed on one side of the sliding guide rail 15 of the lifting door 13, and a first magnetic element 23 can be provided at the lower part of the lifting door 13.

[0107] 2. Use multiple (such as two) magnetic elements (such as magnets) and a Hall sensor solution, such as Figure 5 As shown; wherein, there is one Hall sensor (ie, the third Hall sensor 24), two magnets (the second magnetic element 25 and the third magnetic element 26); compared with the solution of two Hall sensors and one magnetic element, this embodiment only uses one Hall sensor, which is lower in cost.

[0108] 3. Use ranging sensor solution, such as Figure 6 As shown, 27 is a distance measuring sensor.

[0109] In the exemplary embodiments of the present application, the embodiment of the present application can be illustrated by taking a solution using two Hall sensors and one magnet as an example.

[0110] In an exemplary embodiment of the present application, two Hall sensors (one for the upper limit and one for the lower limit) can be installed on one side of the lift door guide rail. The Hall sensors can be directly connected to the main control board of the host. A magnet is installed on the inside of the lift door 13. The magnet rises or falls synchronously with the lift door 13. As long as the Hall sensor senses the magnet, the main control stops the operation of the lift door motor to determine whether the lift door 13 is in place.

[0111] In the exemplary embodiments of the present application, Figure 6As shown, two Hall sensors and one magnet can be: a first Hall sensor 21 arranged in the storage bin 14 for limiting the upper limit position of the movement of the lifting door 13, a second Hall sensor 22 arranged in the storage bin 14 for limiting the lower limit position of the movement of the lifting door 13, and a first magnetic element 23 arranged at the lower part of the lifting door 13.

[0112] In an exemplary embodiment of the present application, the lifting door is driven by two brushless DC motors, wherein the wiring diagram of the motors is as shown in FIG. Figure 7 As shown, where V S is the supply voltage of the brushless DC motor; GND is the ground port; F / R is the motor direction control port; PWM is the motor speed setting signal; FG is the speed feedback signal (18 pulses are emitted when the motor rotates one circle).

[0113] In the exemplary embodiment of the present application, the following takes the closing of the lift door 13 as an example to illustrate the implementation process of the embodiment of the present application. When the motor operation data is the motor current, as shown in FIG. Figure 8 As shown, the steps may include Step 1 to Step 6:

[0114] Step 1: When the lifting door 13 executes the lifting door 13 closing program, the motor drives the motor to run at a constant speed according to the preset PWM (pulse width modulation) signal. At the same time, the position information of the lifting door 13 is indirectly obtained by counting the number of pulses fed back by the FG.

[0115] Step 2: Turn on the motor current detection module to detect the motor current in real time to determine whether the motor is stalled. There are two common current detection schemes, but they are not limited to these two. The first is to detect the current by connecting a series resistor. The corresponding schematic diagram is as follows: Figure 9 shown.

[0116] First, connect a very small resistor to the ground port of the motor, and then connect this resistor to the ground of the main control board. When the motor is running, the current flows through the resistor R and generates a very small voltage value V at point A. out , V out After passing through an op amp circuit, the voltage is amplified to V in , and then use the ADC (digital-to-analog converter) module to convert the analog voltage value V in Convert it into the corresponding digital quantity. The main control board can infer V according to the size of the digital quantity. in According to the amplification factor of the op amp circuit, V out The value, then, according to the formula: The current value of the motor can be calculated.

[0117] The second current detection scheme is to insert a Hall current sensor (or Hall sensor) in series in the loop. The corresponding schematic diagram is as follows: Figure 10 shown.

[0118] The output voltage of the Hall current sensor V out It is proportional to the motor current i, so it can be obtained by V out Dividing by the conversion factor gives the motor current.

[0119] Step 3: When the motor is stalled, the power supply voltage V S If the motor current suddenly becomes very large when the current value remains unchanged, the motor current can be judged to be normal by judging whether the current current value changes suddenly and the magnitude of the change is greater than the preset value (the change threshold). When the motor changes from the normal working state to the stalled state, the current change curve can be as follows: Figure 11 shown.

[0120] Step 4: If there is no sudden increase in current, determine whether the lift door 13 is fully closed. If it is fully closed, stop the motor. Otherwise, the lift door 13 continues to descend and execute Step 2.

[0121] Step 5: If a sudden change in current occurs and the magnitude is greater than the threshold, the motor is stalled and door 13 is not operating properly. The current door position is recorded, and the number of stalls is incremented by 1. The motor is then reversed to move door 13 upward for a certain distance. The motor is then reversed to move door 13 downward.

[0122] Step 6: Determine whether the current number of stalls is greater than a preset value N (a first threshold value). If the number of stalls is less than or equal to N (N can be a positive integer greater than 3), the lift door 13 is controlled to continue descending and Step 2 is executed. Otherwise, the lift door 13 is determined to be faulty, the user is prompted to perform an action, and the motor is stopped.

[0123] In the exemplary embodiment of the present application, the following still takes the closing of the lifting door 13 as an example to illustrate the implementation process of the embodiment of the present application. When the motor operation data is the motor speed, such as Figure 12 As shown, the steps may include Step 11 to Step 16:

[0124] Step 11: When the lift door 13 closes, the motor drives the motor according to a preset speed curve (controlled by a PWM signal: different PWM signals correspond to different speed reference values). At the same time, the position information of the lift door 13 and the speed information of the motor are obtained through the number of pulses fed back by the FG. Figure 13shown.

[0125] Step 12: Compare the difference Δω between the motor's given speed and the feedback speed signal in real time for subsequent fault diagnosis.

[0126] Step 13: When the motor is stalled, the motor speed will suddenly decrease, causing the difference Δω between the given speed and the feedback speed value to become larger and larger. Therefore, it is possible to determine whether the lift door 13 is operating normally by judging whether the current Δω is greater than the set threshold TH (difference threshold). The speed curve comparison diagram of the motor running in normal working state and in stalled state can be shown as follows: Figure 14 and Figure 15 shown.

[0127] Step 14: If Δω is less than the threshold TH, it is determined whether the lift door is fully closed. If it is fully closed, the motor is stopped; otherwise, the lift door continues to descend and step 12 is executed.

[0128] Step 15: If Δω is greater than or equal to threshold TH, the motor is stalled and lift door 13 is malfunctioning. The current position of lift door 13 is recorded, and the stall count is incremented by 1. The motor is then reversed to drag lift door 13 upward for a certain distance. The motor is then reversed to drag lift door 13 downward.

[0129] Step 16: Determine whether the current number of stalls is greater than a preset value N. If the number of stalls is less than or equal to N, the lift door 13 continues to descend and executes step 12. Otherwise, the lift door 13 is determined to be faulty, prompting the user to handle the problem and stopping the motor.

[0130] Example 2

[0131] In an exemplary embodiment of the present application, the relevant data may include: a photographed image used to determine whether the lifting position of the lifting door is in place;

[0132] The preset condition may include: the captured image does not contain a preset limit image mark (which may include an upper limit image mark 20 - 1 and a lower limit image mark 20 - 2 ).

[0133] In the exemplary embodiment of the present application, the second embodiment is different from the first embodiment in the air conditioning structure, such as Figure 16 and Figure 17 As shown, from Figure 16 It can be seen that the sub-machine 12 is equipped with a shooting device 18 and a fill light device 19, for example, a camera and an infrared fill light device, which can use image recognition to determine whether the lifting door 13 is opened or closed.

[0134] In an exemplary embodiment of the present application, when the sub-machine 12 is inside the storage bin 14, since the distance between the camera and the lifting door 13 is close and the camera photographing area is narrow, it is difficult to determine whether the lifting door 13 is closed or fully opened through image recognition. Therefore, an upper limit image mark 20-1 and a lower limit image mark 20-2 can be preset on the inside of the lifting door 13 according to the travel of the lifting door 13 to facilitate image recognition and thereby determine whether the lifting door 13 is closed or fully opened.

[0135] In an exemplary embodiment of the present application, when the slave 12 is inside the storage compartment 14, the camera and infrared fill light device on the slave 12 can be used to detect in real time through image recognition whether the lift door 13 is fully opened or closed. If it is not fully closed, the lift door 13 is moved in the reverse direction for a period of time, and then moved in the forward direction, and so on. A malfunction of the lift door 13 is then determined by determining whether the lift door 13 has been closed or opened unsuccessfully multiple times.

[0136] In the exemplary embodiment of this application, when handset 12 is outside storage compartment 14, the camera and infrared fill light device on handset 12 can be used to determine through image recognition whether lift door 13 is fully opened or closed, and whether there are any obstacles during the closing process. If there are no obstacles during the closing or opening process, and lift door 13 does not fully open or close, it indicates that lift door 13 is faulty.

[0137] In an exemplary embodiment of the present application, the relevant data may include: motor operation data when the lifting motor is running and a captured image used to determine whether the lifting position of the lifting door is in place; the motor operation data may include: motor operation time;

[0138] The preset conditions may include: the captured image does not contain a preset limit image mark, and the motor running time has reached a set time.

[0139] In an exemplary embodiment of the present application, the method may further include:

[0140] When it is detected that the current relevant data has met the preset conditions, the number of up / down failures can be increased by 1;

[0141] The current position of the lifting door is recorded, and the lifting motor is controlled to run in the reverse direction to drive the lifting door to move in the reverse direction. After the lifting door moves in the reverse direction for a preset distance, the lifting motor is controlled to run in the forward direction again to control the lifting door to move in the forward direction.

[0142] In an exemplary embodiment of the present application, the method may further include:

[0143] After the first detection that the current relevant data meets the second set time period of the preset condition, the current number of failed ascent / descent attempts is compared with a preset second number threshold;

[0144] If the current number of lifting / lowering failures is greater than or equal to a preset second number threshold, it can be determined that the lifting obstacle of the lift door may be caused by a lift door failure.

[0145] If the current number of failed lifting / lowering attempts is less than a preset second threshold, it may be determined that the lifting obstacle to the lift door may be caused by a person or object being trapped at the lift door.

[0146] In an exemplary embodiment of the present application, the method may further include:

[0147] Before acquiring the captured image, the light brightness in the current environment may be detected;

[0148] If the light brightness in the current environment is greater than or equal to a preset light brightness threshold, the preset fill light device can be controlled to remain in a closed state, so as not to fill light for the current environment;

[0149] If the light brightness in the current environment is less than a preset light brightness threshold, the preset fill light device can be controlled to enter an on state, thereby filling light for the current environment.

[0150] In the exemplary embodiment of the present application, the following still takes the lifting door 13 rising (opening) as an example to illustrate the implementation process of the embodiment of the present application. When the sub-machine 12 is in the storage compartment 14 and the lifting door 13 opening procedure is executed, as shown in FIG. Figure 18 As shown, the implementation process of the second embodiment of the present application may include steps Step 21 to Step 26:

[0151] Step 21: After executing the lifting door 13 rising program, the motor drags the lifting door 13 to rise according to the preset running time. At the same time, since the sub-machine 12 is inside the storage compartment 14 and the surrounding environment is dark, it is necessary to turn on the infrared fill light device while turning on the camera to facilitate image recognition.

[0152] Step 22: Acquire image information in front of the camera in real time.

[0153] Step 23: The image recognition module pre-stores a lower limit image marker 20-2. When lower limit image marker 20-2 rises with the lift door 13 into the camera's field of view, the module compares lower limit image marker 20-2 with the preset position within the image recognition area to determine whether lift door 13 has fully opened (raised). If lower limit image marker 20-2 appears at the preset position, lift door 13 is fully opened and the motor must be stopped. Otherwise, the module proceeds to Step 24.

[0154] Step 24: Determine whether the preset motor running time has expired. If so, it means that the lift door 13 has not been fully opened, and the motor needs to be stopped and step 25 needs to be executed. Otherwise, step 22 needs to be executed.

[0155] Step 25: Since the lift door 13 is not fully opened, the number of failures is increased by 1, and the motor is made to run in reverse for a period of time, and then the lift door 13 is dragged down a certain distance. Then the motor is made to run in reverse for a period of time, and then the lift door 13 is dragged down a certain distance. Then the motor is made to run forward again according to the preset time, and the lift door 13 is dragged to continue to rise.

[0156] Step 26: Determine whether the number of failures is greater than a preset value M (a second number threshold). If so, it indicates that the lift door 13 has a fault and prompts the user to handle it. Otherwise, execute Step 22.

[0157] In the exemplary embodiment of the present application, the following still takes the descending (closing) of the lift door 13 as an example to illustrate the implementation process of the embodiment of the present application. When the sub-machine is in the storage compartment and the lift door closing (descending) procedure is executed, as shown in FIG. Figure 19 As shown, the implementation process of the second embodiment of the present application may include steps Step 31 to Step 36:

[0158] Step 31: After executing the lifting door 13 closing (descent) program, the motor drags the lifting door 13 down according to the preset running time. At the same time, since the sub-machine 12 is inside the storage compartment 14 and the surrounding environment is dark, it is necessary to turn on the infrared fill light device while turning on the camera to facilitate image recognition.

[0159] Step 32: Acquire image information in front of the camera in real time.

[0160] Step 33: The image recognition module pre-stores an upper limit image marker 20-1. When upper limit image marker 20-1 descends into the camera's field of view as lift door 13 descends, the module compares upper limit image marker 20-1 with the preset position within the image recognition area to determine whether lift door 13 has fully opened (raised). If upper limit image marker 20-1 appears at the preset position, lift door 13 is fully opened, and the motor must be stopped. Otherwise, the module proceeds to Step 34.

[0161] Step 34: Determine whether the preset motor running time has expired. If so, it means that the lift door 13 has not been closed (lowered) to the desired position, and the motor needs to be stopped and Step 35 needs to be executed. Otherwise, Step 32 needs to be executed.

[0162] Step 35: Since the lift door 13 is not fully closed, the number of failed closing (descending) attempts of the lift door 13 is increased by 1, and the motor is made to run in the reverse direction for a period of time, and then the lift door 13 is dragged down a certain distance. Then, the motor is made to run in the forward direction again according to the preset time, and the lift door 13 is dragged down further.

[0163] Step 36: Determine whether the number of failures is greater than a preset value M (a second number threshold, which can be a positive integer greater than 2). If so, it indicates that the lift door 13 has a fault and prompts the user to handle it. Otherwise, execute step 32.

[0164] In the exemplary embodiment of the present application, the following still takes the lifting door 13 rising (opening) as an example to illustrate the implementation process of the embodiment of the present application. When the sub-machine 12 is outside the storage compartment 14 and the lifting door opening (rising) procedure is executed, as shown in FIG. Figure 20 As shown, the implementation process of the second embodiment of the present application may include steps Step 41 to Step 45:

[0165] Step 41: When the sub-machine 12 is outside the storage compartment 14, it is necessary to align the camera with the lifting door 13 and move the sub-machine 12 so that a certain distance is maintained between the sub-machine 12 and the main machine 11, so that the lifting door 13 falls within the shooting range. Then, the lifting door 13 rising program is executed, and the motor drags the lifting door 13 to rise (open) according to the preset motor running time. At the same time, the camera is turned on to obtain image information and determine whether the current environmental light meets the image recognition requirements. If not, the infrared fill light device is turned on. Otherwise, the infrared fill light device does not need to be turned on.

[0166] Step 42: Acquire image information in front of the camera in real time.

[0167] Step 43: Based on the image recognition algorithm, determine whether there is an obstacle in front of the lift door 13. If there is an obstacle, stop the motor and restart the motor running time, and then execute Step 42. If there is no obstacle, execute Step 44.

[0168] Step 44: Based on the image recognition algorithm, further determine whether the lift door 13 is fully opened. If the lift door 13 is fully opened (raised), stop the motor. Otherwise, execute step 45.

[0169] Step 45: Determine whether the preset motor operating time has expired. When the lift door 13 is functioning normally, the lift door 13 is able to fully open or close within the preset motor operating time. Therefore, if the lift door 13 fails to fully open within the preset motor operating time, it indicates that the lift door 13 is faulty and the motor needs to be stopped.

[0170] In the exemplary embodiment of the present application, the following still takes the descending (closing) of the lift door 13 as an example to illustrate the implementation process of the embodiment of the present application. When the sub-machine 12 is outside the storage compartment 14 and the lift door closing (descent) procedure is executed, as shown in FIG. Figure 21 As shown, the implementation process of the second embodiment of the present application may include steps Step 51 to Step 55:

[0171] Step 41: When the sub-machine 12 is outside the storage compartment 14, it is necessary to align the camera with the lifting door 13 and move the sub-machine 12 so that a certain distance is maintained between the sub-machine 12 and the main machine 11, so that the lifting door 13 falls within the shooting range. Then, the lifting door 13 closing (descending) program is executed, and the motor drags the lifting door 13 to close according to the preset running time. At the same time, the camera is turned on to obtain image information and determine whether the current environmental light meets the image recognition requirements. If not, the infrared fill light device is turned on. Otherwise, the infrared fill light device does not need to be turned on.

[0172] Step 42: Acquire image information in front of the camera in real time.

[0173] Step 43: Based on the image recognition algorithm, determine whether there is an obstacle in front of the lift door 13. If there is an obstacle, stop the motor and restart the motor running time, and then execute Step 42. If there is no obstacle, execute Step 44.

[0174] Step 44: Based on the image recognition algorithm, further determine whether the lift door 13 is fully closed. If the lift door 13 is fully closed (descended), the motor is stopped. Otherwise, step 45 is executed.

[0175] Step 45: Determine whether the preset motor operating time has expired. When the lift door 13 is operating normally, the lift door 13 is able to fully open or close within the preset motor operating time. Therefore, if the lift door 13 fails to fully close (descend) within the preset motor operating time, it indicates that the lift door 13 is faulty and the motor must be stopped.

[0176] In the exemplary embodiments of the present application, at least the following beneficial effects are included:

[0177] Beneficial effects of embodiment 1:

[0178] During the closing process of the lift door, if the current suddenly changes and exceeds the threshold, it indicates that the motor is stalled. The cause of this phenomenon may be a malfunction of the lift door itself or it may have caught people or other animals. Therefore, in order to reduce the harm caused by the lift door to people or animals, as well as damage to the transmission structure, it is necessary to immediately reverse the motor for a distance, then run the motor forward again, drag the lift door to continue to descend, and check whether the stall situation will occur again.

[0179] The lift gate is determined to be faulty by determining whether the motor has stalled N times. If a person is trapped, and the lift gate is not faulty, the motor will stall once. When the lift gate descends a second time and the person leaves the gate, the motor will not stall and the gate will close smoothly. Animals are generally not trapped N times in a row. Therefore, if stalling occurs N times, it is likely a fault with the lift gate itself, and the user will be prompted to address the issue.

[0180] Regarding the case where the motor operation data is the motor speed, the main difference from the above-mentioned motor current embodiment is that this embodiment determines whether the motor is stuck by the difference between the given speed value and the speed feedback value of the motor, and then determines whether there is a fault in the lifting door itself by the number of stalls.

[0181] Beneficial effects of embodiment 2:

[0182] When inside the storage compartment, the sub-machine uses the camera, infrared light source, and the position limit image mark on the door to determine whether the lift door is fully closed or open. If not, the lift door will move in the reverse direction for a period of time, then move forward again, and repeat this cycle to determine whether the door has been opened or closed multiple times. If so, it indicates a lift door malfunction; otherwise, it indicates a person or animal has been trapped.

[0183] When the sub-machine is outside the storage compartment, it is necessary to move the sub-machine to keep a certain distance from the main machine to ensure that the lift door falls within the shooting range of the camera. Then, the image recognition algorithm can be used to determine whether there is an obstacle during the opening or closing process of the lift door and whether the lift door is opened or closed in place.

[0184] When the room is dimly lit, the infrared fill light device needs to be turned on to improve the accuracy of image recognition. If the light level is sufficient for image recognition, the infrared fill light device does not need to be turned on and only the camera needs to be turned on.

[0185] This solution uses the sensors on the slave unit to realize fault diagnosis and determine whether the lift door is in place, which can save the upper and lower limit sensors in the conventional solution.

[0186] To sum up, the embodiment method of the present application can not only determine whether there is a stall by detecting the current, but also determine whether there is a stall by the difference between the speed setting and the feedback signal, and determine whether the lifting door is faulty by the number of stalls. At the same time, the camera and infrared fill light device of the sub-machine can be used to perform fault diagnosis through image recognition, thereby enriching the fault diagnosis strategy of the lifting door. In practical applications, a suitable solution can be selected according to the actual hardware conditions.

[0187] The embodiment of the present application also provides a lift door fault diagnosis device 3, such as Figure 22 The system may include: a processor 31 and a computer-readable storage medium 32, wherein the computer-readable storage medium 32 may store instructions. When the instructions are executed by the processor 31, any one of the above-mentioned lift door fault diagnosis methods may be implemented.

[0188] In the exemplary embodiments of the present application, any of the aforementioned method embodiments may be applicable to the device embodiment, and will not be described in detail here.

[0189] The embodiment of the present application also provides an air conditioner 1, such as Figure 23 As shown, it may include: a lifting door 13 and the lifting door fault diagnosis device 3.

[0190] In an exemplary embodiment of the present application, the air conditioner 1 may further include: a slave unit 12 , the slave unit 12 may be provided with a camera 18 and a fill light device 19 , and a limited position image mark may be provided in the lifting door 13 .

[0191] In an exemplary embodiment of the present application, the position limit image mark may include an upper position limit image mark 20 - 1 and a lower position limit image mark 20 - 2 ;

[0192] The upper limit image mark 20-1 can be set at the lower inner part of the lifting door 13;

[0193] The lower limit image mark 20 - 2 can be set on the upper inner side of the lifting door 13 .

[0194] In an exemplary embodiment of the present application, the fill light device may include: an infrared fill light device.

[0195] In the exemplary embodiments of the present application, any of the aforementioned method embodiments can be applied to the air-conditioning embodiment, and will not be described in detail here.

[0196] 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 method for diagnosing a lift door fault, characterized in that: The method comprises: During the lifting process of the lift door, collecting relevant data of the lift door; the relevant data includes: motor operation data of the lift motor and a photographed image of the lifting position of the lift door, or includes: a photographed image of the lifting position of the lift door; Detecting whether the relevant data meets preset conditions; Determining that the relevant data meets a preset condition and determining that there is a lifting obstacle for the lifting door; The method also includes: before acquiring the captured image, detecting the light brightness of the current environment; when the light brightness of the current environment is greater than or equal to a preset light brightness threshold, controlling a preset fill light device to remain in a closed state so as not to provide fill light to the current environment; when the light brightness of the current environment is less than the preset light brightness threshold, controlling the preset fill light device to be in an open state so as to provide fill light to the current environment.

2. The lift door fault diagnosis method according to claim 1, characterized in that: The relevant data includes: the motor operation data; The detecting whether the relevant data meets the preset conditions includes: detecting whether the current motor operation data meets the characteristics of the motor operation data when the lifting motor is locked.

3. The lift door fault diagnosis method according to claim 2, characterized in that: The method further comprises: detecting that the current motor operation data matches the characteristics of the motor operation data when the lifting motor is stalled, and incrementing the stall count of the lifting motor by 1; The current position of the lifting door is recorded, the lifting motor is controlled to run in the reverse direction to drive the lifting door to move in the reverse direction, and after the lifting door moves in the reverse direction for a preset distance, the lifting motor is controlled to run in the forward direction again to drive the lifting door to move in the forward direction.

4. The lift door fault diagnosis method according to claim 3, characterized in that: The method further comprises: After first detecting that the current motor operation data meets the characteristics of the motor operation data when the lifting motor is stalled for a first set time period, comparing the current stall count with a preset first count threshold; If the current number of stalls is greater than or equal to a preset first number threshold, it is determined that the cause of the lift door being obstructed is a lift door failure; The current number of stalls is less than a preset first number threshold, and it is determined that the lifting obstacle of the lift door is caused by a person or object being trapped at the lift door.

5. The lift door fault diagnosis method according to any one of claims 2 to 4, characterized in that: The motor operation data includes: motor current and / or motor speed.

6. The lift door fault diagnosis method according to claim 5, characterized in that: The motor operation data includes the motor current, and detecting whether the current motor operation data is consistent with the motor operation data when the lifting motor is stalled includes: Detecting whether the current motor current has a sudden change, and whether the magnitude of the sudden change is greater than or equal to a preset sudden change threshold; detecting whether the current motor current has a sudden change, and whether the magnitude of the sudden change is greater than or equal to the preset sudden change threshold, and determining that the current motor current meets the motor current when the lifting motor is stalled; The motor operation data includes the motor speed, and detecting whether the current motor operation data is consistent with the motor operation data when the lifting motor is stalled includes: Detect whether the difference between the given motor speed and the currently detected motor speed is greater than or equal to a preset difference threshold; detect whether the difference between the given motor speed and the currently fed back motor speed is greater than or equal to a preset difference threshold, and determine that the current motor speed meets the motor speed when the lifting motor is stalled.

7. The lift door fault diagnosis method according to claim 1, characterized in that: The relevant data includes: a photographic image of the lifting position of the lifting door; The preset condition includes: the captured image does not contain a preset limit image mark.

8. The lift door fault diagnosis method according to claim 1, characterized in that: The relevant data includes: motor operation data of the lifting motor and a photographed image of the lifting position of the lifting door; the motor operation data includes the motor operation time; The preset conditions include: the captured image does not include a preset limit image mark, and the motor running time reaches a set time.

9. The lift door fault diagnosis method according to claim 7, characterized in that: The method further comprises: If it is detected that the current relevant data meets the preset conditions, the number of times the rise / fall failure is increased by 1; The current position of the lift door is recorded, the lift motor is controlled to run in reverse to drive the lift door to move in reverse, and after the lift door moves in reverse for a preset distance, the lift motor is controlled to run in the forward direction again to control the lift door to move in the forward direction.

10. The lift door fault diagnosis method according to claim 9, characterized in that: The method further comprises: After the first detection that the current relevant data meets the second set time period of the preset condition, the current number of failed rise / fall attempts is compared with a preset second number threshold; If the current number of lifting / lowering failures is greater than or equal to a preset second number threshold, it is determined that the cause of the lifting obstacle is a lift door failure. If the current number of failed lifting / lowering attempts is less than a preset second number threshold, it is determined that the lifting obstacle to the lift door is caused by a person or object being trapped at the lift door.

11. A lift door fault diagnosis device, characterized in that: The invention comprises a processor and a computer-readable storage medium, wherein the computer-readable storage medium stores instructions. When the instructions are executed by the processor, the lift door fault diagnosis method according to any one of claims 1 to 10 is implemented.

12. An air conditioner, characterized in that: include: A lift door and a lift door fault diagnosis device as claimed in claim 11.

13. The air conditioner according to claim 12, characterized in that Also includes: The sub-machine is provided with a shooting device and a fill light device, and a limited image mark is provided in the lifting door.

14. The air conditioner according to claim 13, characterized in that Also includes: The position limit image mark includes an upper position limit image mark and a lower position limit image mark; The upper limit image mark is provided at the lower portion of the inner side of the lifting door; The lower limit image mark is arranged on the upper portion of the inner side of the lifting door.

15. The air conditioner according to claim 13, characterized in that The fill light device includes: an infrared fill light device.

Images