Air conditioner and control method and apparatus therefor

Abstract

The embodiment of the application provides an air conditioner and a control method and device thereof. The method comprises the following steps: detecting whether a lifting door of the air conditioner has entered a preset anti-pinch area during a lifting process of the lifting door; when it is detected that the lifting door has entered the anti-pinch area, detecting whether an obstacle exists in a preset range of the lifting door; when it is detected that the obstacle exists in the preset range of the lifting door, controlling the lifting door to stop running or executing a preset anti-pinch function program. Through the embodiment, the anti-pinch function is realized.

Description

Technical Field

[0001] This article relates to home appliance control technology, particularly an air conditioner and its control method and device. Background Technology

[0002] Currently, the lifting door of the air conditioner unit is driven by two motors to raise (open) and lower (close) the door, and a position detection device is used to determine whether the door is fully open or closed.

[0003] Shortcomings of existing technical solutions:

[0004] If a person (such as a child) or other animal is near the storage compartment of the sub-unit during the closing process of the lifting door, they could easily get caught. Existing technologies do not have corresponding anti-pinch features. Summary of the Invention

[0005] This application provides an air conditioner and its control method and apparatus, which can achieve an anti-pinch function.

[0006] This application provides an air conditioning control method, which may include:

[0007] During the raising and lowering process of the air conditioner's lift door, it is possible to detect whether the lift door has entered the pre-set anti-pinch zone;

[0008] When it is detected that the lifting door has entered the anti-pinch area, it is possible to detect whether there are any obstacles within the preset range of the lifting door.

[0009] When an obstacle is detected within the preset range of the lifting door, the lifting door can be stopped, or a pre-set anti-pinch function program can be executed.

[0010] In an exemplary embodiment of this application, detecting whether the lifting door has entered a pre-set anti-pinch zone may include:

[0011] The rotational speed of the control motor of the lifting door during operation is obtained, as well as the working time of the control motor from the start of the lifting door's movement to the current moment.

[0012] The current moving distance of the lifting door is calculated based on the speed of the control motor and the working time.

[0013] Determine whether the travel distance is greater than or equal to a preset distance threshold;

[0014] If the moving distance is determined to be greater than or equal to a preset distance threshold, it can be determined that the lifting door has entered the anti-pinch zone; if the moving distance is determined to be less than the preset distance threshold, it can be determined that the lifting door has not entered the anti-pinch zone.

[0015] In an exemplary embodiment of this application, the method may further include:

[0016] Before the lifting door enters the anti-pinch zone, the control motor of the lifting door can be controlled to run at a first speed. After the lifting door enters the anti-pinch zone, the control motor can be controlled to run at a second speed.

[0017] The second rotational speed is less than the first rotational speed.

[0018] In an exemplary embodiment of this application, the control motor is operated at a second speed, which may include: controlling the operation of the control motor according to a preset speed curve, thereby gradually reducing the moving speed of the lifting door;

[0019] The speed curve contains multiple different second rotational speeds; the speed curve can be composed of multiple second rotational speeds that decrease sequentially.

[0020] In an exemplary embodiment of this application, detecting whether there is an obstacle within a preset range of the lifting door may include:

[0021] The presence of obstacles within a preset range of the lifting door is detected by a pre-set sensor for measuring objects.

[0022] In an exemplary embodiment of this application, the sensor may include: a 3DTOF (three-dimensional time-of-flight) sensor disposed on the air conditioner unit;

[0023] The method of detecting whether there is an obstacle within a preset range of the lifting door using a pre-set sensor for measuring objects may include:

[0024] The distance information between the 3D TOF sensor itself and the objects within the preset range scanned by the 3D TOF sensor is obtained through the 3D TOF sensor.

[0025] A three-dimensional image of the object is generated based on the distance information.

[0026] A pre-set image recognition algorithm is used to process the three-dimensional image, thereby determining whether there are obstacles within the preset range of the lifting door based on the processing results.

[0027] In an exemplary embodiment of this application, before detecting whether there is an obstacle within a preset range of the lifting door, the method may further include:

[0028] The orientation of the sub-unit is adjusted so that the sensor is aligned with the entrance of the storage compartment; wherein the storage compartment can be used to accommodate the sub-unit, and the lifting door is used to open or close the storage compartment.

[0029] In an exemplary embodiment of this application, the anti-pinch function program may include:

[0030] The control motor of the lifting door is controlled to run in reverse so as to drive the lifting door to move in the opposite direction. After the lifting door has moved in the opposite direction for a preset distance, the control motor can be controlled to stop running.

[0031] After the control motor has stopped running for a first preset time, it can be detected whether there are any obstacles within the preset range of the lifting door;

[0032] When an obstacle is detected within the preset range of the lifting door, a reminder message can be issued to remind the user to remove the obstacle, and the anti-pinch function can be terminated; when no obstacle is detected within the preset range of the lifting door, the control motor can be controlled to run according to a preset speed curve.

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

[0034] After detecting that there are no obstacles within the preset range of the lifting door, the control motor can be controlled to run according to the preset speed curve, and then the preset range of the lifting door can be detected again.

[0035] If an obstacle is detected within the preset range of the lifting door after a second inspection, the anti-pinch function program is executed; if no obstacle is detected within the preset range of the lifting door after a second inspection, the control motor can be controlled to run according to a preset speed curve until the lifting door moves to a preset position, at which point the control motor is controlled to stop running.

[0036] In an exemplary embodiment of this application, the method may further include:

[0037] After the air conditioner unit is moved out of the storage compartment, during the process of controlling the movement of the lifting door, the unit is controlled to stop in front of the lifting door to block the entrance of the storage compartment.

[0038] This application also provides an air conditioning control device, which may include: a sensor for measuring objects, a processor, and a computer-readable storage medium. The computer-readable storage medium may store instructions, wherein when the instructions are executed by the processor, the air conditioning control method described in any of the preceding claims can be implemented.

[0039] This application embodiment also provides an air conditioner, which may include: a sub-unit, a main unit, a storage compartment, a lift door, and the aforementioned air conditioner control device. The storage compartment may be configured to store the sub-unit, and the lift door may be configured to open or close the storage compartment.

[0040] In an exemplary embodiment of this application, the sensor used to measure objects in the air conditioning control device may be installed on the sub-unit.

[0041] In an exemplary embodiment of this application, the sensor may be mounted on the mobile chassis of the submachine.

[0042] In an exemplary embodiment of this application, the sensor may include a 3DTOF (three-dimensional time-of-flight) sensor.

[0043] Compared with related technologies, the embodiments of this application may include: during the raising and lowering of the air conditioner's lift door, detecting whether the lift door has entered a pre-set anti-pinch zone; when the lift door is detected to have entered the anti-pinch zone, detecting whether there is an obstacle within a preset range of the lift door; when an obstacle is detected within the preset range of the lift door, controlling the lift door to stop operating, or executing a pre-set anti-pinch function program. This embodiment achieves the anti-pinch function.

[0044] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0045] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0046] Figure 1This is a flowchart of an air conditioning control method according to an embodiment of this application;

[0047] Figure 2 This is a schematic diagram of the storage compartment according to an embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the physical device of the sub-machine according to an embodiment of this application;

[0049] Figure 4 This is a schematic diagram of the first position detection strategy for the lifting door according to an embodiment of this application;

[0050] Figure 5 This is a schematic diagram of the second position detection strategy for the lifting door according to an embodiment of this application;

[0051] Figure 6 This is a schematic diagram of the third position detection strategy for the lifting door according to an embodiment of this application;

[0052] Figure 7 This is a schematic diagram of motor wiring according to an embodiment of this application;

[0053] Figure 8 This is a schematic diagram of the anti-pinch area according to an embodiment of this application;

[0054] Figure 9 This is a schematic diagram of the speed curve of the control motor according to an embodiment of this application;

[0055] Figure 10 This is a schematic diagram of the air conditioning control method after the slave unit successfully enters the storage compartment according to an embodiment of this application;

[0056] Figure 11 This is a schematic diagram of the air conditioning control method after the slave unit successfully leaves the storage compartment, according to an embodiment of this application.

[0057] Figure 12 This is a schematic diagram of the clipping function program according to an embodiment of this application;

[0058] Figure 13 This is a block diagram of the air conditioning control device according to an embodiment of this application;

[0059] Figure 14 This is a block diagram of the air conditioner components according to an embodiment of this application. Detailed Implementation

[0060] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features 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, or may replace, any feature or element of any other embodiment.

[0061] This application includes and contemplates combinations of features and elements known to those skilled 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 scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as 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 suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0062] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0063] This application provides an air conditioning control method, such as... Figure 1 As shown, the method may include steps S101-S103:

[0064] S101. During the lifting and lowering process of the air conditioner's lift door, it is possible to detect whether the lift door has entered the pre-set anti-pinch zone.

[0065] S102. When it is detected that the lifting door has entered the anti-pinch area, it is possible to detect whether there are any obstacles within the preset range of the lifting door.

[0066] S103. When an obstacle is detected within the preset range of the lifting door, the lifting door can be controlled to stop operating, or a preset anti-pinch function program can be executed.

[0067] In an exemplary embodiment of this application, the lifting door can be a lifting door installed on a household appliance, which may include, but is not limited to, air conditioners, fans, refrigerators, etc. The following uses an air conditioner as an example to illustrate the embodiment of this application.

[0068] In exemplary embodiments of this application, as Figure 4 , Figure 5 , Figure 6 As shown, the air conditioner 1 may include: a main unit 11, a sub-unit 12, a lift-up door 13, and a storage compartment 14. The main unit 11 may be the indoor unit of the air conditioner, primarily functioning to perform basic functions such as cooling and heating. The sub-unit 12 may be a small, movable machine stored inside the main unit, which can leave the main unit and move to a designated location when needed. The lift-up door 13 is a door used to open or close, allowing the sub-unit 12 to enter or exit the storage compartment; this door can be opened or closed by lifting. The storage compartment 14 is a storage space inside the main unit 11 for placing the sub-unit 12; the lift-up door 13 is a door used to open or close the storage compartment 14.

[0069] In an exemplary embodiment of this application, when the sub-unit 12 is located in the lower space of the main unit 11, opening the lifting door 13 may cause the lifting door 13 to perform an upward movement; closing the lifting door 13 may cause the lifting door 13 to perform a downward movement. When the sub-unit 12 is located in the upper space of the main unit 11, opening the lifting door 13 may cause the lifting door 13 to perform a downward movement; closing the lifting door 13 may cause the lifting door 13 to perform an upward movement.

[0070] In an exemplary embodiment of this application, the solution of this embodiment is described using the example of the sub-unit 12 being located in the lower space of the main unit 11. A schematic diagram of the storage compartment 14 of the air conditioner 1 is shown in the figure, and a physical image of the sub-unit 12 is shown in the figure. Figure 3 As shown.

[0071] In an exemplary embodiment of this application, the slave unit 12 can be charged in the storage compartment or moved out to perform other tasks. A lifting door 13 can be provided in front of the storage compartment 14 of the slave unit 12, and sliding guide rails 15 can be provided on both sides of the lifting door 13. The slave unit 12 can only enter and exit the storage compartment 14 after the lifting door 13 is opened (raised).

[0072] In exemplary embodiments of this application, as Figure 4 , Figure 5 As shown, the mobile chassis 121 of the submachine 12 can be equipped with a sensor 122 for object detection and obstacle avoidance. For example, a 3D TOF sensor can be used, which is a detection tool used by the submachine 12 for obstacle avoidance during cruise. The solution of this application embodiment can use the sensor to determine whether the lifting door 13 is closed in place and whether there are obstacles during the closing process.

[0073] In an exemplary embodiment of this application, the position detection strategy for the lifting door 13 can be any of the following:

[0074] 1. A scheme using multiple (e.g., two) Hall sensors and one magnetic element (e.g., a magnet), such as... Figure 4 As shown; two Hall sensors (one upper limit sensor and one lower limit sensor) can be installed on one side of the sliding guide rail 15 of the lifting door 13, namely, the first Hall sensor 21 and the second Hall sensor 22, and a first magnetic element 23 can be provided at the lower part of the lifting door 13.

[0075] 2. A scheme that uses multiple (e.g., two) magnetic elements (e.g., magnets) and a single Hall sensor, such as... Figure 5 As shown; there is one Hall sensor (i.e., the third Hall sensor 24) and two magnets (the second magnetic element 25 and the third magnetic element 26); this embodiment uses only one Hall sensor, which is less expensive than the embodiment with two Hall sensors and one magnetic element.

[0076] 3. Employ a ranging sensor solution, such as... Figure 6 As shown, 27 is a ranging sensor.

[0077] In an exemplary embodiment of this application, the scheme employing two Hall sensors and one magnet can be used as an example to illustrate the embodiment of this application.

[0078] In an exemplary embodiment of this application, two Hall sensors (one for the upper limit and one for the lower limit) can be installed on one side of the lifting door guide rail. The Hall sensors can be directly connected to the main control board of the host. A magnet is installed inside the lifting door 13. The magnet rises or falls synchronously with the lifting door 13. As long as the Hall sensor senses the magnet, the main control stops the lifting door motor to determine whether the lifting door 13 is in position.

[0079] In exemplary embodiments of this application, as Figure 6 As shown, the two Hall sensors and one magnet can be: a first Hall sensor 21 disposed in the storage compartment 14 to limit the upper limit position of the movement of the lifting door 13, a second Hall sensor 22 disposed in the storage compartment 14 to limit the lower limit position of the movement of the lifting door 13, and a first magnetic element 23 disposed at the lower part of the lifting door 13.

[0080] In an exemplary embodiment of this application, the lifting door 13 can be driven by a brushless DC motor, wherein the wiring diagram of the motor is shown below. Figure 7 As shown, where V S This is the power supply voltage for the brushless DC motor; GND is the grounding port; F / R is the motor direction control port; PWM is the motor speed command signal; FG is the speed feedback signal (18 pulses are emitted for each revolution of the motor).

[0081] In an exemplary embodiment of this application, when the sub-unit 12 leaves the main unit 11, after the sub-unit 12 successfully moves out of the storage compartment 14, when the lifting door 13 closes (descends), a child or other animal may be trapped by the lifting door 13, resulting in the lifting door 13 not closing properly. When the sub-unit 12 enters the main unit 11, the lifting door 13 descends only after the sub-unit 12 successfully enters the storage compartment 14. During the descent, a child or other animal may be trapped by the lifting door 13 in the gap between the sub-unit 12 and the storage compartment 14, resulting in the lifting door 13 not closing properly. Based on the above reasons, this application proposes a lifting door control method with an anti-pinch function, primarily aimed at achieving the anti-pinch function and reducing harm to people (children) or animals from the lifting door 13.

[0082] In the exemplary embodiments of this application, the schemes of the embodiments of this application will be described in detail below.

[0083] In an exemplary embodiment of this application, detecting whether the lifting door has entered the pre-set anti-pinch zone may include:

[0084] The rotational speed of the control motor of the lifting door during operation is obtained, as well as the working time of the control motor from the start of the lifting door's movement until the current moment.

[0085] The current moving distance of the lifting door is calculated based on the speed of the control motor and the working time.

[0086] Determine whether the travel distance is greater than or equal to a preset distance threshold;

[0087] If the moving distance is determined to be greater than or equal to a preset distance threshold, it can be determined that the lifting door has entered the anti-pinch zone; if the moving distance is determined to be less than the preset distance threshold, it can be determined that the lifting door has not entered the anti-pinch zone.

[0088] In an exemplary embodiment of this application, an anti-pinch area can be pre-set at the entrance of the receiving compartment 14 of the submachine 12; that is, an area can be defined at the entrance of the receiving compartment 14, which can be an area where people or small animals may pass through and enter and exit the receiving compartment 14. Since children or small animals may pass through this area during the movement of the lifting door 13, thereby causing children or small animals to be pinched, this area can be defined as an anti-pinch area.

[0089] In an exemplary embodiment of this application, the anti-pinch area can be set to a height and / or width that is exactly the scanning height and / or width of the sensor on the slave unit 12 at the entrance of the storage compartment 14, such as... Figure 8 As shown.

[0090] In an exemplary embodiment of this application, the number of rotations of the control motor can be calculated by controlling the motor speed and working time. The number of rotations of the rotating shaft that drives the lifting door to rise and fall can be determined according to the preset reduction ratio. The total circumference of the rotating shaft can be determined according to the number of rotations. The total circumference can be used as the moving distance of the lifting door 13. The moving distance is compared with a preset distance threshold. Based on the comparison result, it can be determined whether the lifting door 13 has entered the preset anti-pinch area.

[0091] In an exemplary embodiment of this application, the current speed of the control motor can be determined based on the pulse signal fed back by the control motor, thereby determining the moving distance of the lifting door 13 and the location of the area where the lifting door 13 is located.

[0092] In an exemplary embodiment of this application, when the rotational speed of the control motor is constant, the operating time of the control motor can be directly calculated and compared with a preset time threshold. Based on the comparison result, it can be determined whether the lifting door 13 has entered the preset anti-pinch zone. Specifically, if the operating time is greater than or equal to the preset time threshold, it can be determined that the lifting door 13 has entered the anti-pinch zone; if the operating time is less than the preset time threshold, it can be determined that the lifting door 13 has not entered the anti-pinch zone.

[0093] In an exemplary embodiment of this application, the method may further include:

[0094] Before the lifting door enters the anti-pinch zone, the control motor of the lifting door can be controlled to run at a first speed. After the lifting door enters the anti-pinch zone, the control motor can be controlled to run at a second speed.

[0095] The second rotational speed is less than the first rotational speed.

[0096] In an exemplary embodiment of this application, when the lifting door 13 is outside the anti-pinch zone, the control motor can drive the lifting door 13 to descend quickly at a higher speed, thereby shortening the closing time of the lifting door 13, improving the working efficiency of the lifting door 13, and enhancing the user experience. When the lifting door 13 enters the anti-pinch zone, the operating speed of the control motor can be adjusted to make the lifting door 13 descend slowly, thereby preventing injury to people during the rapid operation of the lifting door 13.

[0097] In an exemplary embodiment of this application, the control motor is operated at a second speed, which may include: controlling the operation of the control motor according to a preset speed curve, thereby gradually reducing the moving speed of the lifting door;

[0098] The speed curve contains multiple different second rotational speeds; the speed curve can be composed of multiple second rotational speeds that decrease sequentially.

[0099] In an exemplary embodiment of this application, the speed setpoint curves (i.e., speed curves) of the control motor of the lifting door 13 in different areas (within and outside the anti-pinch area) can be as follows: Figure 9 As shown.

[0100] In an exemplary embodiment of this application, if the lifting door 13 is outside the anti-pinch zone, the lifting door 13 can move at a higher speed. If the lifting door 13 is within the anti-pinch zone, the motor speed setpoint can decrease slowly according to a preset curve (see...). Figure 9 This causes the lifting door 13 to descend slowly, thus preventing injury to people during the rapid operation of the lifting door 13.

[0101] In an exemplary embodiment of this application, detecting whether there is an obstacle within a preset range of the lifting door 13 may include:

[0102] The sensor 122, which is set in advance for measuring objects, is used to detect whether there are any obstacles within a preset range of the lifting door 13.

[0103] In an exemplary embodiment of this application, the sensor 122 may be mounted on the mobile chassis 121 of the slave unit 12, such as... Figure 4 As shown.

[0104] In an exemplary embodiment of this application, before detecting whether there is an obstacle within a preset range of the lifting door 13, the method may further include:

[0105] The orientation of the sub-unit 12 is adjusted so that the sensor 122 is aligned with the entrance of the storage compartment; wherein the storage compartment 14 can be used to accommodate the sub-unit 12, and the lifting door 13 can be used to open or close the storage compartment 14.

[0106] In an exemplary embodiment of this application, after detecting that the lifting door 13 has entered the preset anti-pinch area, the movable chassis 121 of the submachine 12 can be rotated so that the sensor 122 (such as a 3D TOF sensor) faces the entrance of the storage compartment 14, which facilitates subsequent information collection and judgment of whether there are obstacles.

[0107] In an exemplary embodiment of this application, the sensor 121 may include, but is not limited to, a 3DTOF (three-dimensional time-of-flight) sensor disposed on the air conditioner sub-unit 12;

[0108] The method of detecting whether there is an obstacle within a preset range of the lifting door using a pre-set sensor for measuring objects may include:

[0109] The distance information between the 3D TOF sensor itself and the objects within the preset range scanned by the 3D TOF sensor is obtained through the 3D TOF sensor.

[0110] A three-dimensional image of the object is generated based on the distance information.

[0111] A pre-set image recognition algorithm is used to process the three-dimensional image, thereby determining whether there are obstacles within the preset range of the lifting door based on the processing results.

[0112] In an exemplary embodiment of this application, the three-dimensional image can be processed by a preset image recognition module using a pre-set image recognition algorithm. The 3D TOF sensor (or 3D TOF sensor detection module) can be connected to the main controller, which may include the image recognition module.

[0113] In an exemplary embodiment of this application, the method may further include:

[0114] After the air conditioner unit 12 is moved out of the storage compartment 14, during the process of controlling the movement of the lifting door 13, the unit 12 is controlled to stop in front of the lifting door 13 to block the entrance of the storage compartment 14.

[0115] In an exemplary embodiment of this application, after the submachine 12 detaches from the storage compartment 14, it can be positioned in front of the lifting door 13 to block the entrance of the storage compartment 14, preventing animals and children from entering the storage compartment 14 and avoiding the risk of being trapped.

[0116] In exemplary embodiments of this application, several detailed embodiments of the solution of this application are given below.

[0117] Example 1

[0118] After the submachine 12 successfully enters the storage compartment 14, it is necessary to close the lifting door 13, such as Figure 10 The implementation process of the method in the embodiments of this application may include Step 1-Step 6:

[0119] Step 1: Since the lifting door 13 is in the open state after the sub-unit 12 enters the storage compartment 14, meaning the lifting door 13 is outside the anti-pinch area, the control motor (or simply the motor) can drag the lifting door 13 down quickly at a high speed, shortening the closing time of the lifting door 13, improving the working efficiency of the lifting door 13, and enhancing the user experience. Simultaneously, the rotating moving chassis 121 is positioned so that the 3D TOF sensor 122 faces the entrance of the storage compartment 14, facilitating subsequent information collection and assessment of any obstacles.

[0120] Step 2: The position of the lifting door 13 can be calculated by controlling the speed feedback pulse signal of the motor. Then, it is determined whether the position of the lifting door 13 has reached the anti-pinch zone. If the lifting door 13 is within the anti-pinch zone, then proceed to Step 3; if the lifting door 13 is outside the anti-pinch zone, then the lifting door 13 will continue to descend at a higher speed.

[0121] Step 3: Control the motor speed setpoint to decrease slowly according to the preset curve (see...) Figure 9 This causes the lifting door 13 to descend slowly, preventing injury to people during its rapid operation. Simultaneously, upon entering the anti-pinch zone, the 3D TOF sensor detection module and image recognition module are immediately activated.

[0122] Step 4: The 3D TOF sends the detected data to the image recognition module, and then uses the image recognition algorithm to determine whether there is an obstacle. If an obstacle is found, proceed to Step 5; if no obstacle is found, proceed to Step 6.

[0123] Step 5: Due to an obstacle ahead, the motor operation is stopped, and the anti-pinch function is activated (see flowchart for details). Figure 12 ).

[0124] Step 6: Determine if the lifting door 13 is closed completely (detected by a 3D TOF sensor and image recognition module). If it is closed completely, stop controlling the motor; otherwise, the lifting door 13 continues to descend slowly according to the preset speed curve.

[0125] Example 2

[0126] After the submachine unit 12 successfully leaves the storage compartment 14, the lifting door 13 needs to be closed. Figure 11 The implementation process of the method in the embodiments of this application may include Step 2_1-Step 2_6:

[0127] Step 2_1: After the sub-unit 12 successfully moves out of the sub-unit 12 storage compartment 14, it stops in front of the lifting door 13 to block the entrance of the storage compartment 14 and prevent children or animals from taking the opportunity to enter the storage compartment 14.

[0128] Step 2_2: After the slave unit 12 stops in front of the lifting door 13, it begins to execute the lowering program of the lifting door 13. The control motor drags the lifting door 13 at high speed according to a preset speed curve, shortening the closing time of the lifting door 13, improving its working efficiency, and enhancing the user experience. Simultaneously, since the 3D TOF sensor 122 faces away from the entrance of the storage compartment 14 after the slave unit 12 exits the compartment, the chassis 121 can be rotated to face the sensor 122 directly towards the entrance of the storage compartment 14, facilitating subsequent information collection and obstacle detection.

[0129] Step 2_3: The position of the lifting door 13 can be calculated by controlling the speed feedback pulse signal of the motor. Then, it is determined whether the position of the lifting door 13 has reached the anti-pinch zone. If the lifting door 13 is within the anti-pinch zone, then proceed to Step 2_4; if the lifting door 13 is outside the anti-pinch zone, then the lifting door 13 will continue to descend at a higher speed.

[0130] Step 2_4: Control the motor speed setpoint to decrease slowly according to the preset curve (see...) Figure 9 This causes the lifting door 13 to descend slowly, preventing injury to people during its rapid operation. Simultaneously, upon entering the anti-pinch zone, the 3D TOF sensor detection module and image recognition module are immediately activated.

[0131] Step 2_5: The 3D TOF sensor sends the detected data to the image recognition module, and then uses the image recognition algorithm to determine whether there is an obstacle. If an obstacle is detected, proceed to Step 2_6; if no obstacle is detected, proceed to Step 2_7.

[0132] Step 2_6: Due to an obstacle ahead, the motor operation is stopped, and the anti-pinch function is activated (see flowchart for details). Figure 12 ).

[0133] Step 2_7: Determine if the lifting door 13 is closed in place (detected by 3DTOF sensor and image recognition module)? If the lifting door 13 is closed in place, stop the motor; otherwise, the lifting door 13 continues to descend slowly according to the preset speed curve.

[0134] In an exemplary embodiment of this application, the anti-pinch function program may include:

[0135] The control motor of the lifting door is controlled to run in reverse so as to drive the lifting door to move in the opposite direction. After the lifting door has moved in the opposite direction for a preset distance, the control motor can be controlled to stop running.

[0136] After the control motor has stopped running for a first preset time, it can be detected whether there are any obstacles within the preset range of the lifting door;

[0137] When an obstacle is detected within the preset range of the lifting door, a reminder message can be issued to remind the user to remove the obstacle, and the anti-pinch function process can be terminated. When no obstacle is detected within the preset range of the lifting door, the control motor can be controlled to run according to a preset speed curve until the lifting door moves to the preset position. After confirming that the lifting door has moved to the correct position, the control motor can be stopped, and the anti-pinch function process can be terminated.

[0138] In an exemplary embodiment of this application, the anti-pinch function program may further include:

[0139] When it is detected that there are no obstacles within the preset range of the lifting door, the control motor can be controlled to run according to the preset speed curve, and then the preset range of the lifting door can be detected again.

[0140] If an obstacle is detected within the preset range of the lifting door after a second inspection, the control motor is controlled to run in reverse to drive the lifting door to move in the opposite direction. After the lifting door has moved in the opposite direction by a preset distance, the control motor can be controlled to stop running. After the control motor has stopped running for a first preset time, it can be detected whether there is an obstacle within the preset range of the lifting door.

[0141] If, after a second inspection, no obstacles are detected within the preset range of the lifting door, the control motor can be controlled to run according to a preset speed curve until the lifting door moves to the preset position. At this point, the control motor stops running, and the anti-pinch function process ends.

[0142] In an exemplary embodiment of this application, when it is detected that there are no obstacles within the preset range of the lifting door, during the process of controlling the control motor to run according to the preset speed curve, the detection of whether there are obstacles within the preset range of the lifting door can be performed again one or more times. The specific number of detections is not limited here and can be defined according to different needs.

[0143] In an exemplary embodiment of this application, a complete process of the anti-pinch function program may include the following steps 1-7:

[0144] 1. Control the motor of the lifting door to run in reverse so as to drive the lifting door to move in the opposite direction. After the lifting door has moved in the opposite direction a preset distance, control the motor to stop running.

[0145] 2. After the control motor stops running for a first preset time, is there an obstacle within a preset range of the lifting door? If an obstacle is detected within the preset range of the lifting door, proceed to step 3; if no obstacle is detected within the preset range of the lifting door, proceed to step 4.

[0146] 3. Send a reminder message and end the process;

[0147] 4. Control the control motor to run according to a preset speed curve;

[0148] 5. Check again whether there are obstacles within the preset range of the lifting door? If obstacles are detected within the preset range of the lifting door, return to step 1; if no obstacles are detected within the preset range of the lifting door, proceed to step 6.

[0149] 6. Detect whether the lifting door has moved to the preset position? If the lifting door has moved to the preset position, proceed to step 7; if the lifting door has not moved to the preset position, return to step 4.

[0150] 7. Control the motor to stop running and end the process.

[0151] In an exemplary embodiment of this application, during the descent of the lifting door 13, as... Figure 12 As shown, the detailed execution flow of this anti-pinch function program may include steps Step5_1-Step5_5:

[0152] Step 5_1: After detecting that the control motor has stopped running, make the control motor run in the opposite direction to drag the lifting door 13 up. After it rises to the preset distance, stop the control motor and start timing ΔT seconds to make the lifting door 13 stop at the current position for ΔT seconds.

[0153] Step 5_2: After ΔT seconds, determine if there is an obstacle in front of the lifting door 13. If there is an obstacle, it means that the obstacle (person or animal, etc.) has not been removed, and remind the user to deal with it; if there is no obstacle, proceed to Step 5_3.

[0154] Step 5_3: The lifting door 13 continues to descend slowly according to the preset speed curve.

[0155] Step 5_4: During the descent of the lifting door 13, continue to check for obstacles. If there are obstacles, repeat Step 5_1; otherwise, proceed to Step 5_5.

[0156] Step 5_5: Determine if the lifting door 13 is closed completely (detected by the 3DTOF sensor and image recognition module). If it is not closed completely, proceed to Step 5_3; otherwise, stop controlling the motor.

[0157] In the exemplary embodiments of this application, the solutions of the embodiments of this application have at least the following advantages:

[0158] 1. The position of the lifting door 13 is determined based on the speed feedback pulse signal of the control motor. Different speed setpoints are then set for different positions. When the lifting door 13 is outside the anti-pinch zone, the control motor runs at high speed to improve the working efficiency of the lifting door 13 and enhance the user experience. When the lifting door 13 is within the anti-pinch zone, the speed setpoint of the control motor slowly decreases according to a preset curve (see...). Figure 9 This causes the lifting door 13 to descend slowly, which can prevent injury to people during the rapid operation of the lifting door 13.

[0159] 2. Within the anti-pinch area, the 3DTOF sensor detection module and image recognition module are activated. The 3DTOF sensor detects the distance information and object features in front in real time and sends this information to the image recognition module. The image recognition algorithm determines whether there is an obstacle in front of the lifting door. If an obstacle is detected, the anti-pinch function program is executed to prevent the lifting door 13 from pinching people or animals.

[0160] 3. When executing the anti-pinch function program, the lifting door 13 is first raised a certain distance and then paused for ΔT seconds to check for obstacles again. If it is determined that there are no obstacles, the lifting door 13 is lowered. Otherwise, it is assumed that the obstacle (child or animal, etc.) has not been removed and the user needs to be reminded to handle it.

[0161] 4. Regardless of whether the sub-unit 12 has entered or exited the storage compartment 14, when it is necessary to close the lifting door 13, the chassis 121 can be rotated and moved so that the 3DTOF sensor 122 is facing the entrance of the storage compartment 14, thereby determining whether the lifting door 13 is closed in place or whether there are any obstacles during the closing process.

[0162] 5. When the sub-unit 12 needs to be moved out of the storage compartment 14, after leaving the storage compartment 14, the sub-unit 12 can be left in front of the lifting door 13 to block the entrance of the storage compartment 14 and prevent animals and children from entering the storage compartment.

[0163] 6. Since the 3DTOF sensor 122 of the sub-machine 12 is used to determine whether the lifting door 13 is closed in place, there is no need to add an additional lower limit sensor, which saves some costs.

[0164] This application embodiment also provides an air conditioning control device 3, such as Figure 13 As shown, it may include: a sensor 122 for measuring objects, a processor 31, and a computer-readable storage medium 32, wherein the computer-readable storage medium 32 may store instructions, wherein when the instructions are executed by the processor 31, the air conditioner control method described in any of the preceding claims can be implemented.

[0165] In the exemplary embodiments of this application, any of the embodiments in the foregoing method embodiments can be applied to the device embodiments, and will not be described in detail here.

[0166] This application also provides an air conditioner 1, such as... Figure 14 As shown, it may include: a main unit 11, a sub-unit 12, a lifting door 13, a storage compartment 14, and the aforementioned air conditioning control device 3. The storage compartment 14 can be configured to store the sub-unit 12, and the lifting door 13 can be configured to open or close the storage compartment 14.

[0167] In an exemplary embodiment of this application, the submachine 12 may be equipped with a sensor 122 for measuring objects.

[0168] In an exemplary embodiment of this application, the sensor 122 may be mounted on the mobile chassis 121 of the slave unit 12.

[0169] In an exemplary embodiment of this application, the sensor 122 may include a 3DTOF (three-dimensional time-of-flight) sensor.

[0170] In the exemplary embodiments of this application, any of the embodiments in the foregoing method embodiments can be applied to the device embodiments, and will not be described in detail here.

[0171] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above 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 collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media 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 technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. An air conditioning control method, characterized in that, The air conditioner includes a main unit, a sub-unit, a lift door, and a storage compartment; The storage compartment is configured to house the sub-unit, and the lifting door is configured to open or close the storage compartment. The method includes: During the lifting and lowering of the air conditioner's lift door, a preset sensor for object detection detects whether the lift door has entered a preset anti-pinch zone. The sensor includes a 3D Time-of-Flight (3DTOF) sensor installed on the air conditioner's sub-unit and used for obstacle avoidance detection during the sub-unit's movement. After the sub-unit successfully enters the storage compartment, or after the sub-unit successfully exits the storage compartment, if the lift door is detected to have entered the anti-pinch zone, the sub-unit's chassis is rotated so that the 3DTOF sensor faces the entrance of the storage compartment, in order to detect whether there are obstacles within a preset range of the lift door. If the lifting door is detected to have entered the anti-pinch zone, a preset sensor for measuring objects will be used to detect whether there are any obstacles within a preset range of the lifting door. If an obstacle is detected within a preset range of the lifting door, the lifting door is controlled to stop operating or to execute a preset anti-pinch function program; The step of detecting whether there is an obstacle within a preset range of the lifting door using a preset sensor for measuring objects includes: The distance information between the 3D TOF sensor itself and the objects within the preset range scanned by the 3D TOF sensor is obtained through the 3D TOF sensor. Generate a three-dimensional image of the object based on the distance information; The three-dimensional image is processed using a preset image recognition algorithm, and the presence of obstacles is determined based on the processing results.

2. The air conditioning control method according to claim 1, characterized in that, The detection of whether the lifting door has entered the preset anti-pinch zone includes: The rotational speed of the control motor of the lifting door is obtained, as well as the working time of the control motor from the start of the lifting door's movement to the current moment; The moving distance of the lifting door is calculated based on the rotational speed and operating time of the control motor; Determine whether the moving distance is greater than or equal to a preset distance threshold; If the moving distance is greater than or equal to a preset distance threshold, the lifting door is determined to have entered the anti-pinch zone; if the moving distance is less than the preset distance threshold, the lifting door is determined not to have entered the anti-pinch zone.

3. The air conditioning control method according to claim 1, characterized in that, The method further includes: Before the lifting door enters the anti-pinch zone, the control motor of the lifting door is controlled to run at a first speed, and after the lifting door enters the anti-pinch zone, the control motor is controlled to run at a second speed. The second rotational speed is less than the first rotational speed.

4. The air conditioning control method according to claim 3, characterized in that, The control motor is operated at a second speed according to a preset speed curve to gradually reduce the moving speed of the lifting door. The speed curve includes multiple different second rotational speeds.

5. The air conditioning control method according to claim 1, characterized in that, Before detecting whether there is an obstacle within a preset range of the lifting door, the method further includes: Adjust the orientation of the sub-unit so that the 3DTOF sensor faces the entrance of the storage compartment; wherein the storage compartment is used to house the sub-unit, and the lifting door is used to open or close the storage compartment.

6. The air conditioning control method according to any one of claims 1-5, characterized in that, The anti-pinch function program includes: The control motor of the lifting door is controlled to run in reverse so as to drive the lifting door to move in the opposite direction. After the lifting door has moved in the opposite direction a preset distance, the control motor is controlled to stop running. After the control motor stops running for a first preset time, it is detected whether there are any obstacles within a preset range of the lifting door; If an obstacle is detected within a preset range of the lifting door, a warning message is issued and the anti-pinch function program is terminated; if no obstacle is detected within the preset range of the lifting door, the control motor is controlled to run according to a preset speed curve.

7. The air conditioning control method according to claim 6, characterized in that, The method further includes: After detecting that there are no obstacles within the preset range of the lifting door, while controlling the control motor to run according to the preset speed curve, the system will detect again whether there are obstacles within the preset range of the lifting door. If an obstacle is detected within the preset range of the lifting door after a second detection, the anti-pinch function program is executed again. If no obstacle is detected within the preset range of the lifting door during the second detection, the control motor is controlled to run according to the preset speed curve until the lifting door moves to the preset position, at which point the control motor is controlled to stop running.

8. The air conditioning control method according to any one of claims 1-5, characterized in that, The method further includes: After the sub-unit of the air conditioner is moved out of the storage compartment of the sub-unit, during the process of controlling the movement of the lifting door, the sub-unit is controlled to stop in front of the lifting door to block the entrance of the storage compartment.

9. An air conditioning control device, characterized in that, include: A sensor, processor, and computer-readable storage medium for measuring an object, wherein the computer-readable storage medium stores instructions that, when executed by the processor, implement the air conditioning control method as described in claims 1-8.

10. An air conditioner, characterized in that, include: Main unit, sub-unit, lifting door, storage compartment, and air conditioning control device as described in claim 9; The storage compartment is configured to store the sub-machine, and the lifting door is configured to open or close the storage compartment.

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