A control method and device for an opening and closing structure, a range hood, and a storage medium

Abstract

This invention discloses a control method, device, range hood, and storage medium for an opening and closing structure. The method includes: upon receiving a closing command for the opening and closing structure of the range hood, sending a pulse width modulation signal to a motor to control the motor to begin closing the opening and closing structure of the range hood; calculating the real-time power output of the motor in each frame during the closing process of the opening and closing structure; calculating a compensation value for the current frame pulse width modulation signal based on the real-time power; updating the current frame pulse width modulation signal based on the current frame compensation value; and outputting the current frame pulse width modulation signal to the motor to control the motor to drive the opening and closing structure of the range hood to perform corresponding actions. This embodiment limits the torque output when the motor is stalled by compensating the frame pulse width modulation signal with the real-time power of the motor, thereby ensuring that no excessive force is applied to the trapped object at the moment the opening and closing structure of the range hood closes, thus preventing damage to the trapped object itself.

Description

Technical Field

[0001] This invention relates to the technical field of range hoods, and more particularly to a control method, device, range hood, and storage medium for an opening and closing structure. Background Technology

[0002] Some range hoods on the market have closable panels. When the user is cooking, the panel opens to better trap smoke, prevent smoke from escaping, and improve smoke extraction efficiency. When the user finishes cooking, the panel closes, resulting in a neat and aesthetically pleasing appearance, while also preventing backflow of smoke into the common exhaust duct.

[0003] The opening and closing logic of a range hood is generally achieved by outputting a rated voltage to the motor, which drives the opening and closing mechanism. When the opening and closing mechanism reaches a preset position, it pauses, emits a buzzer to remind the user, and then closes directly.

[0004] During the closing process, the motor is simultaneously detected to prevent stalling. If stalling is detected, the motor will continue to operate for one to two seconds to ensure that the opening and closing structure is closed properly, so as to avoid stopping the motor immediately and causing the opening and closing structure to not close properly. If the opening and closing structure is detected to have caught an object at this time, the motor will be stopped to avoid further damage to the caught object, or the opening and closing structure will be reversed to drive it back a certain distance before closing again, thus achieving the function of preventing hand pinching.

[0005] However, since the motor is driven by the input rated voltage, if an object is caught in the closing mechanism during the closing process, causing the motor to stall, the input voltage to the motor remains unchanged while the current increases, and the torque output by the motor also increases. If the motor continues to work for one to two seconds after stalling, it can easily damage the caught object. Summary of the Invention

[0006] This invention provides a control method, device, range hood, and storage medium for an opening and closing structure, in order to solve the problem of reducing damage to objects trapped when the opening and closing structure of the range hood is closed.

[0007] According to one aspect of the present invention, a method for controlling an opening and closing structure is provided, applied to a range hood, the method comprising:

[0008] When a closing command is received for the opening and closing structure of the range hood, a pulse width modulation signal is sent to the motor to control the motor to start driving the opening and closing structure of the range hood to close.

[0009] During the closing process of the opening and closing structure, the real-time power output of the motor in each frame is calculated;

[0010] Calculate a compensation value for the pulse width modulation signal of the current frame based on the real-time power;

[0011] Update the pulse width modulation signal of the current frame according to the compensation value of the current frame;

[0012] The pulse width modulation signal of the current frame is output to the motor to control the motor to drive the opening and closing structure of the range hood to perform corresponding actions.

[0013] Optionally, calculating the compensation value for the pulse width modulation signal of the current frame based on the real-time power includes:

[0014] The preset reference power is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled.

[0015] The difference between the reference power and the real-time power in each frame is calculated as the power difference;

[0016] The power difference in the current frame is subjected to proportional-integral-derivative control to obtain the compensation value of the pulse width modulation signal in the current frame.

[0017] Optionally, the step of performing proportional-integral-derivative control on the power difference of the current frame to obtain the compensation value of the pulse width modulation signal of the current frame includes:

[0018] Multiply the preset scaling factor by the first target value to obtain the scaling value, where the first target value is the difference between the power difference in the current frame and the power difference in the previous frame.

[0019] Multiply the preset integration coefficient by the power difference in the current frame to obtain the integral value;

[0020] Multiply the preset differential coefficient by the second target value to obtain the differential value. The second target value is the difference between the power difference in the current frame and twice the power difference in the previous frame, plus the power difference between the previous two frames.

[0021] The sum of the proportional value, the integral value, and the derivative value is calculated and used as the compensation value for the pulse width modulation signal in the current frame.

[0022] Optionally, updating the pulse width modulation signal of the current frame according to the compensation value of the current frame includes:

[0023] Determine whether the pulse width modulation signal in the previous frame is less than the maximum value of the pulse width modulation signal;

[0024] If so, then based on the pulse width modulation signal in response to the closing instruction, the compensation value from the first frame is accumulated to the compensation value of the current frame to obtain the pulse width modulation signal of the current frame;

[0025] If not, the pulse width modulation signal of the previous frame is kept unchanged and used as the pulse width modulation signal of the current frame.

[0026] Optionally, it also includes:

[0027] The state of the opening and closing structure when it is closed is detected based on the real-time power, the compensation value, and the pulse width modulation signal.

[0028] If there is an obstruction, the motor will stop when the preset delay time is reached, so as to control the motor to stop driving the opening and closing structure of the range hood to close.

[0029] Optionally, detecting the state of the opening / closing structure when it is closed based on the real-time power, the compensation value, and the pulse width modulation signal of the current frame includes:

[0030] If the real-time power is less than the reference power, the compensation value is greater than zero, and the pulse width modulation signal is greater than the pulse width modulation signal responding to the closing command, then it is determined that the opening and closing structure is in an unobstructed state when closed.

[0031] If the real-time power is greater than the reference power, the compensation value is less than zero, and the pulse width modulation signal is less than the maximum value of the pulse width modulation signal, then the state of the opening and closing structure when closed is determined to be obstructed.

[0032] The reference power is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled.

[0033] Optionally, calculating the real-time power output by the motor in each frame includes:

[0034] Detect the voltage value output by the motor in each frame;

[0035] Detect the current value output by the motor in each frame;

[0036] Multiplying the voltage value by the current value yields the real-time power output by the motor in each frame.

[0037] According to another aspect of the present invention, a control device for an opening and closing structure is provided, applied to a range hood, the device comprising:

[0038] The motor starting module is used to send a pulse width modulation signal to the motor when it receives a closing command for the opening and closing structure of the range hood, so as to control the motor to start driving the opening and closing structure of the range hood to close.

[0039] A real-time power calculation module is used to calculate the real-time power output by the motor in each frame during the closing process of the opening and closing structure.

[0040] The compensation value calculation module is used to calculate the compensation value for the pulse width modulation signal of the current frame based on the real-time power.

[0041] A pulse width modulation signal update module is used to update the pulse width modulation signal of the current frame according to the compensation value of the current frame.

[0042] The motor operation module is used to output the pulse width modulation signal of the current frame to the motor to control the motor to drive the opening and closing structure of the range hood to perform corresponding actions.

[0043] Optionally, the compensation value calculation module includes:

[0044] The reference power query module is used to query a preset reference power, which is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled.

[0045] The power difference calculation module is used to calculate the difference between the reference power and the real-time power of each frame as the power difference.

[0046] The compensation control module is used to perform proportional-integral-derivative control on the power difference in the current frame to obtain the compensation value of the pulse width modulation signal in the current frame.

[0047] Optionally, the compensation control module includes:

[0048] The ratio calculation module is used to multiply a preset ratio coefficient by a first target value to obtain a ratio value, wherein the first target value is the difference between the power difference in the current frame and the power difference in the previous frame.

[0049] The integral value calculation module is used to multiply the preset integral coefficient by the power difference of the current frame to obtain the integral value;

[0050] The differential value calculation module is used to multiply a preset differential coefficient by a second target value to obtain a differential value. The second target value is the difference between the power difference in the current frame and twice the power difference in the previous frame, plus the power difference between the previous two frames.

[0051] The addition module is used to calculate the sum of the proportional value, the integral value, and the derivative value, as the compensation value of the pulse width modulation signal in the current frame.

[0052] Optionally, the pulse width modulation signal update module includes:

[0053] The pulse width modulation signal determination module is used to determine whether the pulse width modulation signal in the previous frame is less than the maximum value of the pulse width modulation signal; if yes, the pulse width modulation signal accumulation module is called; if no, the pulse width modulation signal maintenance module is called.

[0054] A pulse width modulation signal accumulation module is used to accumulate the compensation value from the first frame to the compensation value of the current frame based on the pulse width modulation signal in response to the closing command, so as to obtain the pulse width modulation signal of the current frame;

[0055] The pulse width modulation signal maintenance module is used to maintain the pulse width modulation signal of the previous frame unchanged and use it as the pulse width modulation signal of the current frame.

[0056] Optionally, it also includes:

[0057] A closed-state detection module is used to detect the state of the opening and closing structure when it is closed based on the real-time power, the compensation value, and the pulse width modulation signal.

[0058] The motor stop module is used to stop the motor when a preset delay time is reached if there is an obstruction in the state, so as to control the motor to stop driving the opening and closing structure of the range hood to close.

[0059] Optionally, the closed state detection module includes:

[0060] An unobstructed determination module is used to determine that the opening and closing structure is unobstructed when it is closed if the real-time power is less than the reference power, the compensation value is greater than zero, and the pulse width modulation signal is greater than the pulse width modulation signal responding to the closing command.

[0061] An obstruction determination module is used to determine that the opening and closing structure is in an obstructed state when it is closed if the real-time power is greater than the reference power, the compensation value is less than zero, and the pulse width modulation signal is less than the maximum value of the pulse width modulation signal.

[0062] The reference power is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled.

[0063] Optionally, the real-time power calculation module includes:

[0064] A voltage detection module is used to detect the voltage value output by the motor in each frame;

[0065] A current value detection module is used to detect the current value output by the motor in each frame;

[0066] The electrical information multiplication module is used to multiply the voltage value and the current value to obtain the real-time power output by the motor in each frame.

[0067] According to another aspect of the present invention, a range hood is provided, the range hood comprising:

[0068] At least one processor; and

[0069] A memory communicatively connected to the at least one processor; wherein,

[0070] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the control method for the opening and closing structure according to any embodiment of the present invention.

[0071] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program for causing a processor to execute and implement the control method of the opening and closing structure according to any embodiment of the present invention.

[0072] In this embodiment, when a closing command is received for the opening and closing mechanism of the range hood, a pulse width modulation (PWM) signal is sent to the motor to control the motor to begin closing the opening and closing mechanism of the range hood. During the closing process, the real-time power output of the motor in each frame is calculated; a compensation value is calculated for the current frame PWM signal based on the real-time power; the current frame PWM signal is updated based on the current frame compensation value; and the current frame PWM signal is output to the motor to control the motor to drive the opening and closing mechanism of the range hood to perform the corresponding action. This embodiment limits the torque output when the motor is stalled by compensating the frame PWM signal with the real-time power of the motor, thereby ensuring that no excessive force is applied to the trapped object at the moment the opening and closing mechanism of the range hood closes, thus preventing damage to the trapped object itself.

[0073] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0074] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0075] Figure 1 This is a flowchart of a control method for an opening and closing structure according to Embodiment 1 of the present invention;

[0076] Figure 2 This is an architecture diagram of a control opening and closing structure provided according to Embodiment 1 of the present invention;

[0077] Figure 3 This is a flowchart of a control method for an opening and closing structure according to Embodiment 2 of the present invention;

[0078] Figure 4 This is a schematic diagram of the structure of a control device for an opening and closing structure according to Embodiment 3 of the present invention;

[0079] Figure 5 This is a schematic diagram of the structure of a range hood provided in Embodiment 4 of the present invention. Detailed Implementation

[0080] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0081] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0082] Example 1

[0083] Figure 1 This is a flowchart of a control method for an opening and closing structure provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the real-time output torque of the motor is limited by detecting and controlling the power of the motor in real time. This method can be executed by a control device for the opening and closing structure, which can be implemented in hardware and / or software. This control device can be configured in a range hood. Figure 1 As shown, the method includes:

[0084] Step 101: When a closing command is received for the opening and closing structure of the range hood, a pulse width modulation signal is sent to the motor to control the motor to start driving the opening and closing structure of the range hood to close.

[0085] A range hood (also known as a cooking hood) is a kitchen appliance that purifies the kitchen environment. It is usually installed above the kitchen stove and can remove the waste from the stove and the harmful fumes produced during cooking, exhausting them outdoors. At the same time, it condenses and collects the fumes, reducing pollution and purifying the air.

[0086] The range hood is equipped with at least one processor, which is the control center of the range hood. It connects to various components of the range hood through various interfaces and lines. By running or executing software programs and / or modules stored in the memory, and calling data stored in the memory, it performs various functions of the controller and processes data, thereby monitoring the controller as a whole.

[0087] Optional processors include MCUs (Microcontroller Units, also known as single-chip microcomputers), PLCs (Programmable Logic Controllers), and so on.

[0088] This embodiment can be applied to range hoods, especially to processors (such as microcontrollers).

[0089] In addition, the range hood is equipped with an openable panel. The panel and its opening and closing structure are collectively referred to as the opening and closing structure. One end of the motor is fixed to the opening and closing structure, which can push the opening and closing structure to open and close.

[0090] The motor is generally a push rod motor. An electric push rod, also known as a linear actuator, is mainly composed of a drive motor, reduction gear, screw, nut, guide sleeve, push rod, slide, spring, housing, turbine, micro switch and other mechanisms. It is a type of linear actuator that makes reciprocating motion within a certain range of strokes. It can be considered as an extension of the rotary motor in terms of structure.

[0091] When users finish cooking, they can trigger a closing command on the range hood's opening and closing mechanism through physical buttons, infrared touch control, voice control, or other means to request the range hood to close.

[0092] When the processor receives a closing instruction, it sends a fixed duty cycle PWM (Pulse Width Modulation) signal p to the motor driver. d The motor driver is mainly responsible for driving the motor to run in both forward and reverse directions. The motor driver receives a PWM signal with a fixed duty cycle pd At that time, according to the PWM signal p with a fixed duty cycle d The corresponding voltage is generated and input to the motor, thereby starting the motor. The motor then starts running and begins to drive the opening and closing mechanism of the range hood.

[0093] Step 102: During the closing process of the opening and closing structure, calculate the real-time power output of the motor in each frame.

[0094] like Figure 2 As shown, a detector is installed in the motor. The detector is connected to the processor and can detect the motor's operating information in real time during the closing process of the opening and closing structure. The detector transmits the motor's operating information to the processor in real time. The processor calculates the power output of the motor in each frame based on the motor's operating information and records it as the real-time power.

[0095] In the specific implementation, the detector can detect the voltage value U output by the motor in each frame. m1 U m2 U m3 ... U mn And, detect the current value I output by the motor in each frame. m1 I m2 I m3 ... I mn and the voltage value U m1 U m2 U m3 ... U mn With current value I m1 I m2 I m3 ... I mn The data is transmitted to the processor in real time. In the processor, the voltage and current values ​​are multiplied to obtain the power output by the motor in each frame, which is denoted as the real-time power P. m1 (U m1 ×I m1 ), P m2 (U m2 ×I m2 ), P m3 (U m3 ×I m3 ), ..., P mn (U mn ×I mn ).

[0096] Step 103: Calculate the compensation value for the current frame pulse width modulation signal based on the real-time power.

[0097] In practical applications, the torque output by the motor is calculated using the following formula:

[0098] T = 9550 * P / n

[0099] Where T is the torque of the motor, P is the power of the motor, and n is the speed of the motor.

[0100] With a fixed motor power, the lower the motor speed, the greater the motor torque. Therefore, using the motor power as feedback can better limit the magnitude of the motor torque.

[0101] During the closing process of the opening and closing structure, multiple frames of PWM signals will be continuously output to the motor driver. Before outputting each frame of PWM signal, a compensation value can be calculated for each frame of PWM signal based on the real-time power of the motor, which is used to compensate for each frame of PWM signal.

[0102] In one embodiment of the present invention, step 103 may include the following steps:

[0103] Step 1031: Query the preset reference power.

[0104] In this embodiment, a reference power P can be preset. s and the reference power P s Stored in the range hood.

[0105] Wherein, the reference power P s The maximum operating power P of the motor when the opening and closing structure is closed without obstruction is greater than the maximum operating power P of the motor. mmax And the reference power P s Less than the maximum operating power P of the motor when stalled dmax .

[0106] Furthermore, during the closing process of the opening and closing structure, the motor needs to overcome the frictional force generated by the opening and closing structure itself and the force of gravity to do work. The frictional force and the force of gravity to do work are different at different positions of the opening and closing structure. Therefore, the power output of the motor is constantly changing during operation.

[0107] P mmax This refers to the maximum power, P, that the motor generates before the opening and closing mechanism closes, after overcoming resistances such as friction and gravity. mmax This excludes forces exerted by external forces or obstructions, i.e., it excludes situations where the motor stalls.

[0108] Therefore, the reference power P s It should be set to be greater than this P. mmax Large, otherwise, when P s =P mmax At that time, the opening and closing structure is easily misjudged as a stall during the closing process.

[0109] Step 1032: Calculate the difference between the reference power and the real-time power of each frame as the power difference.

[0110] For each frame, the real-time power P mn In both cases, the reference power can be subtracted from the real-time power of each frame, and the difference between the two is recorded as the power difference. This process is expressed as follows:

[0111] ΔP n =P s -P mn

[0112] Wherein, ΔP n For the power difference, P s For reference power, P mn This represents real-time power.

[0113] Step 1033: Perform proportional-integral-derivative control on the current frame power difference to obtain the compensation value of the current frame pulse width modulation signal.

[0114] like Figure 2 As shown, the processor is equipped with a PID (Proportional-Integral-Differential) controller. The PID controller provides PID control, a type of closed-loop control. Closed-loop control is a control method that corrects errors based on the output feedback of the controlled object. It corrects errors according to quotas or standards when a deviation is detected between the actual and planned output. PID represents three control algorithms; combining these three algorithms can effectively correct deviations in the controlled object, thereby achieving a stable state.

[0115] 1. Proportion

[0116] The proportional controller proportionally reflects the deviation signal of the control system. Once a deviation occurs, it immediately generates a control action to reduce the deviation. The output u(t) of the proportional controller is proportional to the input deviation e(t), which can quickly reflect the deviation and thus reduce it, but cannot eliminate steady-state error. Steady-state error refers to the difference between the given value and the measured value of the output when the system control process tends to be stable. The existence of deviation is necessary for the controller to maintain a certain control output, therefore, a proportional controller inevitably has steady-state error. According to deviation theory, increasing the proportional control action can reduce the deviation, but cannot completely eliminate it. The magnitude of the proportional control action depends not only on the deviation e(t) but also on the magnitude of the proportional coefficient Kp. The smaller the proportional coefficient Kp, the smaller the control action and the slower the system response; conversely, the larger the proportional coefficient Kp, the stronger the control action and the faster the system response. However, an excessively large Kp will cause the system to produce large overshoot and oscillations, leading to a decrease in the system's stability. Therefore, Kp should not be selected too large. A compromise should be made based on the characteristics of the controlled object to keep the steady-state error within the allowable range while maintaining a relatively fast response speed.

[0117] 2. Points

[0118] The main function of the integral term is to eliminate steady-state error and improve the system's accuracy. The strength of the integral action depends on the integral coefficient; a larger integral coefficient results in a weaker integral action, and vice versa. The existence of the integral control action is related to the duration of the deviation e(t). As long as a deviation exists in the system, the integral term will continuously work, integrating the input deviation to continuously change the controller's output and the actuator's opening, thus generating a control action to reduce the deviation. With sufficient integral time, steady-state error can be completely eliminated, and the integral control action will remain constant. The smaller Ti is, the faster the integral speed and the stronger the integral action. Excessive integral action can increase system overshoot and even cause system oscillations.

[0119] 3. Differential

[0120] The derivative element reflects the changing trend (rate of change) of the deviation signal and introduces an effective early correction signal into the system before the deviation signal becomes too large, thereby accelerating the system's response speed and reducing settling time. While integral control can eliminate steady-state error, it reduces the system's response speed, especially for controlled objects with large inertia. In such cases, it's difficult to achieve good dynamic regulation quality with a PI controller, leading to significant overshoot and oscillations. In such situations, derivative control can be introduced. At the instant the deviation appears or changes, it not only reacts promptly based on the deviation amount (i.e., proportional control) but also provides a larger control action (i.e., derivative control) in advance based on the changing trend (rate of change) of the deviation, eliminating the deviation at the initial state. This significantly reduces the system's dynamic deviation and settling time, improving its dynamic regulation quality. The derivative element helps reduce overshoot, overcome oscillations, accelerate the system's response speed, and reduce settling time, thus improving the system's dynamic performance. However, an excessively large derivative coefficient can cause system instability.

[0121] In this embodiment, the PID controller performs PID processing on the current frame power difference to obtain the compensation value of the current frame pulse width modulation signal.

[0122] For example, on the one hand, a preset scaling factor is multiplied by a first target value to obtain a scaling value, wherein the first target value is the difference between the power difference of the current frame and the power difference of the previous frame.

[0123] On the other hand, the preset integration coefficient is multiplied by the power difference of the current frame to obtain the integration value.

[0124] On the other hand, the preset differential coefficient is multiplied by the second target value to obtain the differential value, wherein the second target value is the difference between the current frame power difference and twice the previous frame power difference plus the power difference between the previous two frames.

[0125] In summary, the sum of the proportional, integral, and derivative values ​​is calculated and used as the compensation value for the current frame pulse width modulation signal.

[0126] In this example, the process of calculating the compensation value is shown below:

[0127] Δp n =K P *(ΔP n -ΔP n-1 )+K I *ΔP n +K D *(ΔP n -2*ΔP n-1 +ΔP n-2 )

[0128] Where, Δpn K is the compensation value for the current frame pulse width modulation signal. P K is the proportionality coefficient. I K is the integral coefficient. D Let ΔP be the differential coefficient. n ΔP represents the power difference between the current frames. n-1 The power difference from the previous frame, ΔP n-2 This represents the power difference between the first two frames.

[0129] Step 104: Update the pulse width modulation signal of the current frame according to the compensation value of the current frame.

[0130] For the current frame compensation value ΔP n The current frame compensation value ΔP can be used. n The PWM signal is compensated to update the PWM signal for the current frame.

[0131] In one embodiment of the present invention, step 104 may include the following steps:

[0132] Step 1041: Determine whether the pulse width modulation signal of the previous frame is less than the maximum value of the pulse width modulation signal; if yes, proceed to step 1042; if no, proceed to step 1043.

[0133] Step 1042: Based on the pulse width modulation signal responding to the closing instruction, accumulate the compensation value from the first frame to the pulse width modulation signal of the current frame to obtain the pulse width modulation signal of the current frame.

[0134] Step 1043: Keep the pulse width modulation signal of the previous frame unchanged and use it as the pulse width modulation signal of the current frame.

[0135] In this embodiment, the previous frame PWM signal p can be determined. on Is it less than the maximum value p of the PWM signal? omax If the previous frame's PWM signal p on Less than the maximum value p of the PWM signal omax Then, in response to the closure command, the pulse width modulation signal p d (i.e., pulse width modulation signal p with fixed duty cycle) d Based on the first frame's compensation value Δp1, the system accumulates the compensation value Δp1 from the first frame, the compensation value Δp2 from the second frame, and so on, until the current frame's compensation value Δp is reached. n Obtain the current frame value PWM signal p on That is, p on =p d +Δp1+Δp2+……+Δp n .

[0136] If the previous frame's PWM signal p onThe maximum value p of the PWM signal is greater than or equal to the maximum value p. omax Maintain the PWM signal p from the previous frame on Unchanged, serving as the current frame PWM signal p on .

[0137] Step 105: Output the current frame pulse width modulation signal to the motor to control the motor to drive the opening and closing mechanism of the range hood to perform corresponding actions.

[0138] like Figure 2 As shown, the processor generates the current frame PWM signal p on At that time, the previous frame PWM signal p is sent to the motor driver. on The motor driver follows the PWM signal p from the previous frame. on Generate the corresponding voltage U on , will voltage U on The input is sent to the motor, thereby maintaining the motor's operation and continuing to drive the range hood's opening and closing mechanism to perform the corresponding action (i.e., closing).

[0139] In this embodiment, when a closing command is received for the opening and closing mechanism of the range hood, a pulse width modulation (PWM) signal is sent to the motor to control the motor to begin closing the opening and closing mechanism of the range hood. During the closing process, the real-time power output of the motor in each frame is calculated; a compensation value is calculated for the current frame PWM signal based on the real-time power; the current frame PWM signal is updated based on the current frame compensation value; and the current frame PWM signal is output to the motor to control the motor to drive the opening and closing mechanism of the range hood to perform the corresponding action. This embodiment limits the torque output when the motor is stalled by compensating the frame PWM signal with the real-time power of the motor, thereby ensuring that no excessive force is applied to the trapped object at the moment the opening and closing mechanism of the range hood closes, thus preventing damage to the trapped object itself.

[0140] Example 2

[0141] Figure 3 This is a flowchart of a control method for an opening and closing structure provided in Embodiment 2 of the present invention. This embodiment adds the operation of detecting the state of the opening and closing structure when it is closed, based on the previous embodiment. Figure 3 As shown, the method includes:

[0142] Step 301: When a closing command is received for the opening and closing structure of the range hood, a pulse width modulation signal is sent to the motor to control the motor to start driving the opening and closing structure of the range hood to close.

[0143] Step 302: During the closing process of the opening and closing structure, calculate the real-time power output of the motor in each frame.

[0144] Step 303: Calculate the compensation value for the current frame pulse width modulation signal based on the real-time power.

[0145] Step 304: Update the pulse width modulation signal of the current frame according to the compensation value of the current frame.

[0146] Step 305: Output the current frame pulse width modulation signal to the motor to control the motor to drive the opening and closing structure of the range hood to perform corresponding actions.

[0147] Step 306: Detect the state of the opening and closing structure when it is closed based on the real-time power, compensation value, and frame pulse width modulation signal.

[0148] For each frame, the state of the opening and closing structure when it is closed can be detected by combining real-time power, compensation value, and PWM signal, and it can be determined whether there is an obstruction when the opening and closing structure is closed.

[0149] In one scenario, if the real-time power P of the current frame... mn Less than the reference power P s Current frame compensation value ΔP n Greater than zero (0) (positive compensation value), current frame pulse width modulation signal p on The pulse width modulation signal p is greater than the response closing command. d (i.e., pulse width modulation signal p with fixed duty cycle) d If the load on the motor is small, then the opening and closing structure is in an unobstructed state when closed.

[0150] In this case, after several cycles of operation (steps 302-305), the PWM signal p on The duty cycle will reach its maximum, i.e., the PWM signal p on It will equal the maximum value p of the PWM signal. omax .

[0151] In another scenario, if the real-time power P of the current frame... mn Greater than the reference power P s Current frame compensation value ΔP n Less than zero (0) (negative compensation value), current frame pulse width modulation signal p on Less than the maximum value p of the pulse width modulation signal omax If the opening and closing structure encounters resistance exceeding the normal design resistance, it can be determined that the opening and closing structure is in a blocking state when closed, and the motor is stalled.

[0152] In this case, after several cycles of calculation (steps 302-305), the real-time power P of the motor is... mn It will remain consistent with the reference power P s They are roughly the same.

[0153] Wherein, the reference power P sThe maximum operating power P of the motor when the opening and closing structure is closed without obstruction is greater than the maximum operating power P of the motor. mmax And less than the maximum operating power P of the motor when stalled. dmax .

[0154] Step 307: If there is an obstruction, the motor will be stopped when the preset delay time is reached, so as to control the motor to stop driving the opening and closing structure of the range hood to close.

[0155] If the opening and closing mechanism encounters an obstruction when closing, the operation can be repeated for multiple cycles (steps 302-305) to maintain a preset delay time (e.g., 1 second). When the preset delay time is reached, the motor is stopped, thereby controlling the motor to stop driving the opening and closing mechanism of the range hood to close, thus avoiding greater damage to the obstruction.

[0156] Example 3

[0157] Figure 4 This is a schematic diagram of a control device for an opening and closing structure provided in Embodiment 3 of the present invention. Figure 4 As shown, this device is used in a range hood and includes:

[0158] The motor starting module 401 is used to send a pulse width modulation signal to the motor when it receives a closing command for the opening and closing structure of the range hood, so as to control the motor to start driving the opening and closing structure of the range hood to close.

[0159] The real-time power calculation module 402 is used to calculate the real-time power output by the motor in each frame during the closing process of the opening and closing structure.

[0160] The compensation value calculation module 403 is used to calculate the compensation value of the pulse width modulation signal of the current frame based on the real-time power.

[0161] The pulse width modulation signal update module 404 is used to update the pulse width modulation signal of the current frame according to the compensation value of the current frame.

[0162] The motor operation module 405 is used to output the pulse width modulation signal of the current frame to the motor to control the motor to drive the opening and closing structure of the range hood to perform corresponding actions.

[0163] In one embodiment of the present invention, the compensation value calculation module 403 includes:

[0164] The reference power query module is used to query a preset reference power, which is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled.

[0165] The power difference calculation module is used to calculate the difference between the reference power and the real-time power of each frame as the power difference.

[0166] The compensation control module is used to perform proportional-integral-derivative control on the power difference in the current frame to obtain the compensation value of the pulse width modulation signal in the current frame.

[0167] In one embodiment of the present invention, the compensation control module includes:

[0168] The ratio calculation module is used to multiply a preset ratio coefficient by a first target value to obtain a ratio value, wherein the first target value is the difference between the power difference in the current frame and the power difference in the previous frame.

[0169] The integral value calculation module is used to multiply the preset integral coefficient by the power difference of the current frame to obtain the integral value;

[0170] The differential value calculation module is used to multiply a preset differential coefficient by a second target value to obtain a differential value. The second target value is the difference between the power difference in the current frame and twice the power difference in the previous frame, plus the power difference between the previous two frames.

[0171] The addition module is used to calculate the sum of the proportional value, the integral value, and the derivative value, as the compensation value of the pulse width modulation signal in the current frame.

[0172] In one embodiment of the present invention, the pulse width modulation signal update module 404 includes:

[0173] The pulse width modulation signal determination module is used to determine whether the pulse width modulation signal in the previous frame is less than the maximum value of the pulse width modulation signal; if yes, the pulse width modulation signal accumulation module is called; if no, the pulse width modulation signal maintenance module is called.

[0174] A pulse width modulation signal accumulation module is used to accumulate the compensation value from the first frame to the compensation value of the current frame based on the pulse width modulation signal in response to the closing command, so as to obtain the pulse width modulation signal of the current frame;

[0175] The pulse width modulation signal maintenance module is used to maintain the pulse width modulation signal of the previous frame unchanged and use it as the pulse width modulation signal of the current frame.

[0176] In one embodiment of the present invention, it further includes:

[0177] A closed-state detection module is used to detect the state of the opening and closing structure when it is closed based on the real-time power, the compensation value, and the pulse width modulation signal.

[0178] The motor stop module is used to stop the motor when a preset delay time is reached if there is an obstruction in the state, so as to control the motor to stop driving the opening and closing structure of the range hood to close.

[0179] In one embodiment of the present invention, the closed state detection module includes:

[0180] An unobstructed determination module is used to determine that the opening and closing structure is unobstructed when it is closed if the real-time power is less than the reference power, the compensation value is greater than zero, and the pulse width modulation signal is greater than the pulse width modulation signal responding to the closing command.

[0181] An obstruction determination module is used to determine that the opening and closing structure is in an obstructed state when it is closed if the real-time power is greater than the reference power, the compensation value is less than zero, and the pulse width modulation signal is less than the maximum value of the pulse width modulation signal.

[0182] The reference power is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled.

[0183] In one embodiment of the present invention, the real-time power calculation module 402 includes:

[0184] A voltage detection module is used to detect the voltage value output by the motor in each frame;

[0185] A current value detection module is used to detect the current value output by the motor in each frame;

[0186] The electrical information multiplication module is used to multiply the voltage value and the current value to obtain the real-time power output by the motor in each frame.

[0187] The control device for the opening and closing structure provided in the embodiments of the present invention can execute the control method for the opening and closing structure provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the control method for the opening and closing structure.

[0188] Example 4

[0189] Figure 5 A schematic diagram of a range hood 10, which can be used to implement embodiments of the present invention, is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0190] like Figure 5As shown, the range hood 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the range hood 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0191] Multiple components in the range hood 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the range hood 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0192] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the control methods of opening and closing structures.

[0193] In some embodiments, the control method for the opening and closing structure can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the range hood 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the control method for the opening and closing structure described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the control method for the opening and closing structure by any other suitable means (e.g., by means of firmware).

[0194] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0195] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0196] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0197] To provide user interaction, the systems and techniques described herein can be implemented on a range hood that includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the range hood. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0198] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0199] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0200] Example 5

[0201] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the control method for the opening and closing structure as provided in any embodiment of this invention.

[0202] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0203] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0204] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of controlling an opening and closing structure, characterized by, Applied to range hoods, the method includes: When a closing command is received for the opening and closing structure of the range hood, a pulse width modulation signal is sent to the motor to control the motor to start driving the opening and closing structure of the range hood to close. During the closing process of the opening and closing structure, the real-time power output of the motor in each frame is calculated; The preset reference power is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled. The difference between the reference power and the real-time power in each frame is calculated as the power difference; Multiply the preset scaling factor by the first target value to obtain the scaling value, where the first target value is the difference between the power difference in the current frame and the power difference in the previous frame. Multiply the preset integration coefficient by the power difference in the current frame to obtain the integral value; Multiply the preset differential coefficient by the second target value to obtain the differential value. The second target value is the difference between the power difference in the current frame and twice the power difference in the previous frame, plus the power difference between the previous two frames. The sum of the proportional value, the integral value, and the derivative value is calculated and used as the compensation value for the pulse width modulation signal in the current frame. Determine whether the pulse width modulation signal in the previous frame is less than the maximum value of the pulse width modulation signal; If so, then based on the pulse width modulation signal in response to the closing instruction, the compensation value from the first frame is accumulated to the compensation value of the current frame to obtain the pulse width modulation signal of the current frame; If not, the pulse width modulation signal of the previous frame is kept unchanged and used as the pulse width modulation signal of the current frame; The pulse width modulation signal of the current frame is output to the motor to control the motor to drive the opening and closing structure of the range hood to perform corresponding actions.

2. The method of claim 1, wherein, Also includes: The state of the opening and closing structure when it is closed is detected based on the real-time power, the compensation value, and the pulse width modulation signal. If there is an obstruction, the motor will stop when the preset delay time is reached, so as to control the motor to stop driving the opening and closing structure of the range hood to close.

3. The method of claim 2, wherein, The step of detecting the state of the opening / closing structure when it is closed based on the real-time power, the compensation value, and the pulse width modulation signal of the current frame includes: If the real-time power is less than the reference power, the compensation value is greater than zero, and the pulse width modulation signal is greater than the pulse width modulation signal responding to the closing command, then it is determined that the opening and closing structure is in an unobstructed state when closed. If the real-time power is greater than the reference power, the compensation value is less than zero, and the pulse width modulation signal is less than the maximum value of the pulse width modulation signal, then the state of the opening and closing structure when closed is determined to be obstructed. The reference power is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled.

4. The method of claim 1, wherein, The calculation of the real-time power output by the motor in each frame includes: Detect the voltage value output by the motor in each frame; Detect the current value output by the motor in each frame; Multiplying the voltage value by the current value yields the real-time power output by the motor in each frame.

5. A control device for an opening and closing structure, characterized by comprising: The device, used in range hoods, includes: The motor starting module is used to send a pulse width modulation signal to the motor when it receives a closing command for the opening and closing structure of the range hood, so as to control the motor to start driving the opening and closing structure of the range hood to close. A real-time power calculation module is used to calculate the real-time power output by the motor in each frame during the closing process of the opening and closing structure. The compensation value calculation module is used to calculate the compensation value for the pulse width modulation signal of the current frame based on the real-time power. A pulse width modulation signal update module is used to update the pulse width modulation signal of the current frame according to the compensation value of the current frame. The motor operation module is used to output the pulse width modulation signal of the current frame to the motor to control the motor to drive the opening and closing structure of the range hood to perform corresponding actions; The compensation value calculation module includes: The reference power query module is used to query a preset reference power, which is greater than the maximum operating power of the motor when the opening and closing structure is closed without obstruction, and less than the maximum operating power of the motor when it is stalled. The power difference calculation module is used to calculate the difference between the reference power and the real-time power of each frame as the power difference. The compensation control module is used to perform proportional-integral-derivative control on the power difference in the current frame to obtain the compensation value of the pulse width modulation signal in the current frame. The compensation control module includes: The ratio calculation module is used to multiply a preset ratio coefficient by a first target value to obtain a ratio value, wherein the first target value is the difference between the power difference in the current frame and the power difference in the previous frame. The integral value calculation module is used to multiply the preset integral coefficient by the power difference of the current frame to obtain the integral value; The differential value calculation module is used to multiply a preset differential coefficient by a second target value to obtain a differential value. The second target value is the difference between the power difference in the current frame and twice the power difference in the previous frame, plus the power difference between the previous two frames. The addition module is used to calculate the sum of the proportional value, the integral value and the derivative value, as the compensation value of the pulse width modulation signal in the current frame; The pulse width modulation signal update module includes: The pulse width modulation signal determination module is used to determine whether the pulse width modulation signal in the previous frame is less than the maximum value of the pulse width modulation signal; if yes, the pulse width modulation signal accumulation module is called; if no, the pulse width modulation signal maintenance module is called. A pulse width modulation signal accumulation module is used to accumulate the compensation value from the first frame to the compensation value of the current frame based on the pulse width modulation signal in response to the closing command, so as to obtain the pulse width modulation signal of the current frame; The pulse width modulation signal maintenance module is used to maintain the pulse width modulation signal of the previous frame unchanged and use it as the pulse width modulation signal of the current frame.

6. A range hood characterized by The range hood includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the control method of the opening and closing structure according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the control method for the opening and closing structure as described in any one of claims 1-4.

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