Automatic door opening and closing control method for household appliances

Abstract

The application discloses an automatic door opening and closing control method of a household appliance. The automatic door opening and closing control method of the household appliance comprises the following steps: S10, obtaining a user instruction, wherein the user instruction comprises adjusting an opening amplitude of a door body to a target amplitude R0; S30, obtaining a current amplitude R of the door body; S50, comparing the current amplitude R with the target amplitude R0; when the comparison result is that the current amplitude R does not reach the target amplitude R0, controlling a moving part to move for a first set time, and then returning to step S30; when the comparison result is that the current amplitude R reaches the target amplitude R0, turning to step S70; and S70, after determining that an opening and closing device is in a corresponding state, adjusting is ended. The automatic door opening and closing control method of the household appliance can automatically control the door body to reach a required opening amplitude.

Description

Technical Field

[0001] This invention relates to the field of household appliances, and more specifically to an automatic door opening and closing control method for household appliances. Background Technology

[0002] As home appliances become increasingly intelligent, automatic opening and closing technology is being applied to more and more home appliance products. However, existing automatic door opening and closing technologies can only achieve partial opening and closing of the door, such as automatically controlling the unlocking of the door. They cannot yet achieve complete control over the opening and closing of the door. During the opening and closing process, the operator still needs to manually pull the door to fully control the changes in the opening range. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes an automatic door opening and closing control method for household appliances, which can automatically control the door to achieve the required opening degree.

[0004] According to an embodiment of the present invention, an automatic door opening and closing control method for a household appliance includes a body, a door, a switching device, and a sensor for detecting the opening range of the door. The lower end of the door is rotatably connected to the body. The switching device includes: a pull cord with one end and two ends, the one end of the cord being connected to the body and the two ends being connected to the door; an elastic element connected between the one end of the cord and the body, or between the two ends of the cord and the door; and a control component including a movable member capable of contacting the pull cord, the movable member being configured to adjust the pulling range of the pull cord during movement to adjust the extension and retraction of the elastic element.

[0005] The method includes the following steps: S10: Obtain a user instruction, the user instruction including adjusting the opening range of the door to a target range R0; S30: Obtain the current opening range R of the door; S50: Compare the current range R and the target range R0; when the comparison result is that the current range R has not reached the target range R0, control the moving part to move for a first set time, and then return to step S30; when the comparison result is that the current range R has reached the target range R0, proceed to step S70; S70: After determining that the switching device is in the corresponding state, the adjustment ends.

[0006] According to an embodiment of the present invention, an automatic door opening and closing control method for household appliances can control the current opening radius R of the door to gradually approach the target opening radius R0 through a moving part. During the process of the current opening radius R approaching the target opening radius R0, the current opening radius R and the target opening radius R0 are compared after a first predetermined time interval until it is determined that the current opening radius R has reached the target opening radius R0. Thus, the above process achieves automatic control of the door to open to the required opening radius.

[0007] In some embodiments, in step S50, after controlling the movement of the movable part to move for a first set time and before returning to step S30, the movable part is controlled to stop moving and wait for a second set time.

[0008] In some embodiments, the switching device further includes: a locking member, the locking member being used to lock the door when the door is fully closed; in step S10, when the user instruction is to adjust the opening range of the door from the fully closed range R1 to the target range R0, the method further includes: step S21: controlling the locking member to release the door; wherein, in step S10, when the target range R0 is the fully closed range R1, the determination of the switching device being in the corresponding state in step S70 includes: controlling the locking member to lock the door.

[0009] In some embodiments, step S50 further includes: comparing the current amplitude R with the fully open amplitude R2 and the fully closed amplitude R1; when the comparison result is that the current amplitude R is greater than the fully open amplitude R2 of the door, or when the comparison result is that the current amplitude R is less than the fully closed amplitude R1 of the door, issuing a fault message.

[0010] In some specific embodiments, controlling the movement of the movable component in step S50 includes the following stages: S51, acceleration stage: lengthening or shortening the elastic component, so that the length deformation of the elastic component reaches a first deformation amount ΔX1, causing the door to rotate from a stationary state; S52, stabilization stage: adjusting the length deformation of the elastic component back to a second deformation amount ΔX2, so that the gravitational torque at the current angle of the door is equal to the current tension torque of the pull rope on the door.

[0011] Furthermore, in the stabilization phase of step S52, the length deformation of the elastic element is adjusted once every set time interval.

[0012] Furthermore, the control of the moving part in step S50, after step S52, also includes: S53, deceleration stage: stop the movement of the moving part, and when the door body reaches balance again due to pulling the rope during rotation, the door body stabilizes at the current amplitude R.

[0013] Furthermore, the switching device also includes a steering wheel, which is located between the movable member and the two ends of the rope along the length of the rope; in the stabilization phase of step S52, adjustment stops when the following conditions are met: Wherein, the rotation center of the door is point A1, the tangent point of the pull rope at both ends of the rope on the steering wheel is A2, the point of application of the tension of the pull rope on the door when the door is fully closed is A3, and the point of application of the tension of the pull rope on the door when the door reaches the target amplitude R0 is A4; where a is the length of line segment A1A3, b is the length of line segment A1A2, and c is the length of line segment A2A4; and α is the angle between line segment A1A2 and line segment A1A3, β is the angle between line segment A1A3 and line segment A1A4, which is also the rotation angle of the door when it reaches the target amplitude R0 and is relatively fully closed.

[0014] In some specific embodiments, the movable component is disposed on the machine body, and the movable component is a rotating component or a moving component, which pulls the pull rope during movement.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a flowchart illustrating the automatic door opening and closing control method according to the first embodiment of the present invention;

[0018] Figure 2 This is a flowchart illustrating the automatic door opening and closing control method according to a second embodiment of the present invention;

[0019] Figure 3 yes Figure 1 A schematic diagram of the stages for controlling the movement of the moving parts in the automatic door opening and closing control method of the embodiment;

[0020] Figure 4 This is a schematic diagram of the structure of a household appliance according to an embodiment of the present invention;

[0021] Figure 5 yes Figure 4 A schematic diagram illustrating the force exerted on the door of a household appliance according to the embodiment shown;

[0022] Figure 6 yes Figure 4 A schematic diagram of the rotation angle of the door opening range of the household appliance in the embodiment shown;

[0023] Figure 7 This is a schematic diagram of the structure of a household appliance according to another embodiment of the present invention.

[0024] Figure label:

[0025] Home appliances 1000

[0026] Switching device 100

[0027] 11. Pull rope, 111. One end of the rope, 112.

[0028] Elastic component 12, movable component 13, steering wheel 14

[0029] Body 200, door 300. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] In the description of this invention, it should be understood that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] The automatic door opening and closing control method of a household appliance 1000 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0034] like Figure 4 , Figure 7 As shown, an automatic door opening and closing control method for a household appliance 1000 according to an embodiment of the present invention,

[0035] The household appliance 1000 includes a body 200, a door 300, a switch device 100, and a sensor for detecting the opening range of the door 300. The lower end of the door 300 is rotatably connected to the body 200.

[0036] The switching device 100 includes: a pull cord 11, with one end 111 and the other end 112, the first end 111 being connected to the body 200 and the second end 112 being connected to the door 300; an elastic element 12, which is connected between the first end 111 and the body 200, or between the second end 112 and the door 300; and a control component including a movable member 13, which is capable of contacting the pull cord 11 and is configured to adjust the pulling amplitude of the pull cord 11 during movement to adjust the extension and retraction of the elastic element 12.

[0037] Understandably, since the lower end of the door 300 is rotatably connected to the body 200, the door 300 tends to open under the influence of gravity, meaning the upper end of the door 300 gradually moves away from the body 200. During the opening or closing of the door 300, the pull rope 11 and the elastic element 12 are in a taut state, and the tension in the pull rope 11 is equal to the elastic force in the elastic element 12. The end of the pull rope 11 or the elastic element 12 connected to the door 300 moves synchronously with the rotation of the door 300, thereby changing the sum of the lengths of the pull rope 11 and the elastic element 12. However, the length of the pull rope 11 does not change when subjected to force. That is, the deformation of the elastic element 12 changes during the rotation of the door 300, and each opening amplitude of the door 300 corresponds to a single length of the elastic element 12.

[0038] Therefore, by controlling the movement of the movable part 13 to lengthen or shorten the elastic part 12, the elastic deformation of the elastic part 12 can be controlled, thereby adjusting the magnitude of the pulling force on the door 300 by the elastic part 12 or the pull rope 11, and simultaneously adjusting the sum of the lengths of the pull rope 11 and the elastic part 12 to adjust the opening range of the door 300.

[0039] like Figure 1 As shown, the automatic door opening and closing control method of this application includes the following steps:

[0040] S10: Obtain user instructions, including adjusting the opening range of the door 300 to the target range R0.

[0041] S30: Get the current opening radius R of door 300.

[0042] S50: Compare the current amplitude R with the target amplitude R0:

[0043] When the comparison result shows that the current amplitude R has not reached the target amplitude R0, the control active component 13 is activated for the first set time and then returns to step S30.

[0044] When the comparison result shows that the current amplitude R has reached the target amplitude R0, proceed to step S70.

[0045] S70: After confirming that the switching device 100 is in the corresponding state, the adjustment ends.

[0046] It should be noted that the rotation amplitude of the movable part 13 within the first set time period is ΔR. In the following text, ΔR is used to describe the rotation amplitude of the door body 300 within the first set time period. The ΔR corresponding to each first set time period may be equal or unequal.

[0047] It is understandable that during the process of the movable component 13 controlling the opening amplitude of the door 300 to change, within the first set time, the movable component 13 controls the current amplitude R to change towards the target amplitude R0, and the change amount of the current amplitude R is ΔR. After the first time ends, the current amplitude R is compared with the target amplitude R0. If the current amplitude R has not reached the target amplitude R0, then the next first set time continues, and the movable component 13 continues to control the current amplitude R to change towards the target amplitude R0 by ΔR.

[0048] Thus, by repeatedly performing step S50, the door 300 rotates once within each first set time period, and the opening amplitude of the door 300 can change by ΔR. The current amplitude R approaches the target amplitude R0 in units of ΔR until the current amplitude R reaches the target amplitude R0.

[0049] Meanwhile, since the current amplitude R approaches the target amplitude R0 in units of ΔR, when the current amplitude R reaches the target amplitude R0, the difference between the current amplitude R and the target amplitude R0 is less than ΔR. That is, when the current amplitude R of the door 300 increases, R0≤R≤R0+ΔR, or when the current amplitude R of the door 300 decreases, R0≥R≥R0-ΔR.

[0050] The automatic door opening and closing control method of this application can control the current amplitude R of the door 300 to gradually approach the target amplitude R0 through the movable element 13. During the process of the current amplitude R approaching the target amplitude R0, the current amplitude R and the target amplitude R0 are compared after a first set time interval until it is determined that the current amplitude R has reached the target amplitude R0. Thus, the door 300 is automatically controlled to open to the required opening amplitude through the above process.

[0051] It should be noted that the duration of the first set time is not limited in this application. The longer the duration of the first set time, the larger ΔR is, and the fewer rotations are required for the door 300 to reach the target amplitude R0 from the current amplitude R; the shorter the duration of the first set time, the shorter ΔR is, that is, when the current amplitude R of the door 300 reaches the target amplitude R0, the maximum error ΔR between the current amplitude R and the target amplitude R0 is smaller.

[0052] In this application, the method of comparing the current amplitude R and the target amplitude R0 is not limited. For example, the rotation angle of the door 300 at different opening amplitudes can be compared, in which case the sensor is set as an angle sensor. As another example, the distance between the fixed point of the door 300 and the body 200 can be compared, in which case the sensor is set as a distance sensor.

[0053] In some embodiments, such as Figure 2 As shown, in step S50, after the control movable part 13 has been active for a first set time, and before returning to step S30, the control movable part 13 stops its activity and waits for a second set time.

[0054] Understandably, during the first set time, the door 300 rotates under the control of the movable part 13. After the movable part 13 has been in motion for the first set time, it stops moving. However, due to inertia, the door 300 continues to rotate and causes the elastic part 12 to undergo further deformation, resulting in the elastic part 12 rebounding. This causes the door 300 to shake after the first set time ends.

[0055] Therefore, by controlling the moving part 13 to stop moving after the first set time and waiting for the second set time, the shaking of the door 300 can gradually stop within the second set time, ensuring that the door 300 is in a stationary state when returning to step S30. Thus, when the current amplitude R of the door 300 is acquired in step S30, the error caused by the shaking of the door 300 can be reduced or avoided, that is, the accuracy of the detection of the current amplitude R is improved.

[0056] In some embodiments, the switching device 100 further includes: a locking element ( Figure 4 , Figure 7 (Not shown in the image), the locking element is used to lock the door 300 when the door 300 is fully closed.

[0057] In step S10, as Figure 2 As shown, when the user command is to adjust the opening range of the door 300 from the fully closed range R1 to the target range R0, after step S10, the following step is also included: step S21: control the locking element to release the door 300.

[0058] Therefore, after the locking member releases the door 300, the door 300 can rotate, meaning that the opening range of the door 300 can be changed in subsequent S30 and S50 by the movable member 13.

[0059] In step S10, when the target range R0 is the fully closed range R1, determining the corresponding state of the switch device 100 in step S70 includes controlling the locking member to lock the door body 300. Thus, after the door body 300 reaches the fully closed range R1, controlling the locking member to lock the door body 300 ensures that the door body 300 is maintained at the fully closed range R1 under the action of the locking member.

[0060] At this time, the door 300 is kept in a fully closed state R1 and is not affected by the pulling force of the pull rope 11 and the elastic element 12 on the door 300.

[0061] In some embodiments, step S50 further includes: comparing the current amplitude R with the fully open amplitude R2 and the fully closed amplitude R1. When the comparison result is that the current amplitude R is greater than the fully open amplitude R2 of the door 300, or when the comparison result is that the current amplitude R is less than the fully closed amplitude R1 of the door 300, a fault message is issued.

[0062] It is understandable that the fully open radius R2 is the maximum radius that the door 300 can open, while the fully closed radius R1 is the opening radius of the door 300 when it is closed, i.e., the minimum opening radius of the door 300. In other words, under normal conditions, the current opening radius R should be between R1 and R2, i.e., R1 ≤ R ≤ R2. Furthermore, the magnitudes of the fully open radius R2 and the fully closed radius R1 are limited by the mechanical structure of the appliance 1000's body 200 and the door 300.

[0063] Therefore, when the calculation result shows that the current amplitude R is greater than the fully open amplitude R2 of the door 300, or when the comparison result shows that the current amplitude R is less than the fully closed amplitude R1 of the door 300, there are two possible situations: a large error occurs in the detection of the current amplitude R, indicating a malfunction during the detection process; or there is no error in the detection of the current amplitude R, indicating a mechanical malfunction in the machine body 200 or the door body 300, causing the current amplitude R to be greater than the fully open amplitude R2 or less than the fully closed amplitude R1. In both of these cases, a malfunction occurs in the software or mechanical mechanism of the household appliance 1000, respectively, triggering a fault message that can easily remind the operator to inspect and repair the household appliance 1000.

[0064] In some specific embodiments, such as Figure 3 As shown, controlling the movement of the active component 13 in step S50 includes the following stages:

[0065] S51, Acceleration stage: Lengthen or shorten the elastic element 12, and deform the length of the elastic element 12 to the first deformation amount ΔX1, so that the door body 300 changes from static to rotating.

[0066] S52, Stabilization Phase: Adjust the length deformation of the elastic element 12 to the second deformation ΔX2, so that the gravitational torque of the current opening amplitude of the door 300 is equal to the current pulling torque of the rope 11 on the door 300.

[0067] Figure 5 The diagram shows the force exerted on the door 300 by its gravity and the tension of the pull rope 11. Taking the example where the second end of the pull rope 11 is connected to the door 300, the elastic element 12 connects the body 200 and the first end. Figure 5 In the example, F is the pulling force exerted by the rope 11 on the door 300, F1 is the weight of the door 300 assembly, F2 is the vertical component of the pulling force F, L1 is the horizontal distance between the center of gravity of the door 300 assembly and the rotation center O, and L2 is the horizontal distance between the point of application of the pulling force and the rotation center O.

[0068] Under the above conditions, when the door 300 is in a state of equilibrium, i.e., stable, the torque provided by the pull rope 11 is equal to the torque generated by the gravity of the door 300 about the rotation center O, i.e., F1×L1=F2×L2. To make the door 300 move, it is only necessary to make the torque of the pull rope and the torque of gravity unbalanced: when F1×L1>F2×L2, the door 300 opens; when F1×L1<F2×L2, the door 300 closes.

[0069] Therefore, in the acceleration phase of step S51, by stretching or shortening the elastic element 12, the length deformation of the elastic element 12 changes by ΔX1, and in total, L2 changes by ΔX1, that is, F2×L2 changes, so that F1×L1≠F2×L2, and then the door 300 rotates under its own gravity, that is, the door 300 automatically starts to rotate during the opening process.

[0070] In the stabilization phase of step S52, the length deformation of the elastic element 12 is adjusted back by ΔX2, so that F1×L1=F2×L2, so that the torque on the door 300 can be kept in balance, so that the door 300 continues to rotate in step S52 after rotating in step S51.

[0071] In some embodiments, the position and elastic modulus of the elastic element 12 are set such that, during the opening of the door 300, the gravitational torque of the door 300 and the torque generated by the elastic force of the elastic element 12 on the door 300 can increase synchronously. That is, F1, L1, F2, and L2 change synchronously with the opening range of the door 300, so that at any opening range, the gravitational torque and the torque of the tension force on the door 300 can remain equal, i.e., the torque on the door 300 is always F1×L1=F2×L2. Therefore, the door 300 can maintain force balance at any opening range, i.e., the door 300 can remain at any opening range, or maintain stable rotation during changes in the opening range.

[0072] Furthermore, during the stabilization phase of step S52, the length deformation of the elastic element 12 is adjusted every set time interval. This allows for continuous adjustment of the tensile torque on the door 300 during the stabilization phase, i.e., adjusting F2×L2, so that the door 300 maintains F1×L1=F2×L2 as the rotation amplitude changes. This results in a more stable rotation speed of the door 300, thus improving the stability of the door 300's opening amplitude.

[0073] Furthermore, in step S50, the movement of the movable part 13 is controlled, and after step S52, the following is also included:

[0074] S53, Deceleration stage: Stop the movement of the moving part 13, and when the door body 300 reaches balance again due to the pulling of the rope 11 during rotation, the door body 300 stabilizes at the current amplitude R.

[0075] Therefore, when the door 300 continues to rotate due to inertia and pulls the rope 11, the deformation and tension of the elastic element 12 change. Even if F1×L1 > F2×L2 or F1×L1 < F2×L2, the total torque received by the door 300 is opposite to the direction of its rotation. As a result, the rotation of the door 300 gradually stops, and F1×L1 and F2×L2 gradually approach each other until F1×L1 = F2×L2, at which point the door 300 can stably stop at the current amplitude R. This achieves automatic stopping of the door 300's rotation during the opening process.

[0076] In some embodiments, such as Figure 4 , Figure 7 As shown, the switch device 100 also includes a steering wheel 14, which is located between the movable member 13 and the two ends 112 of the rope along the length of the pull rope 11. Thus, the steering wheel 14 can provide support for the pull rope 11 and change the extension direction of the pull rope 11, thereby ensuring that the pull rope 11 can be connected to the door body 300 at a stable angle.

[0077] In the stabilization phase of step S52, such as Figure 6As shown, adjustment will stop when the following conditions are met:

[0078]

[0079] The rotation center of the door 300 is point A1, the tangent point of the pull rope 11 at the two ends of the rope 112 on the steering wheel 14 is A2, the point of application of the tension of the pull rope 11 on the door 300 when the door 300 is fully closed is A3, and the point of application of the tension of the pull rope 11 on the door 300 when the door 300 reaches the target amplitude R0 is A4.

[0080] Where a is the length of line segment A1A3, b is the length of line segment A1A2, and c is the length of line segment A2A4; and α is the angle between line segment A1A2 and line segment A1A3, β is the angle between line segment A1A3 and line segment A1A4, which is also the rotation angle when the door 300 reaches the target amplitude R and is relatively completely closed.

[0081] It is understandable that, under different opening degrees of the door 300, the two ends 112 of the rope are located in different positions, while the position of the steering wheel 14 is fixed. That is, the door 300 corresponds to different lengths c of line segments A2A4 under different opening degrees. Among all the above line segment lengths and angles, the length a of A1A3, the length b of A1A2, and the included angle α are all fixed values ​​determined by the mechanical structure of the body 200 and the door 300. Therefore, during the rotation of the door 300, the length c of A2A4 is affected by the change in β, and according to... Figure 6 Based on the law of cosines, the relationship between c and β can be derived as follows:

[0082] Where a, b, and α are all constant values.

[0083] Therefore, when c and β satisfy the above conditions, the lengths of the pull rope 11 and the elastic element 12 can correspond to the target amplitude R0 of the door body 300, that is, the door body 300 can reach the target amplitude R0, thereby stopping the adjustment of the door body 300 rotation and making the door body 300 stable at the target amplitude R0.

[0084] It should be noted that when the door 300 reaches the target radius R, the rotation angle of the door 300 relative to when it is fully closed is β. The length c of line segment A2A4 at this point can be obtained using the above formula. Let the length of line segment A2A3 be c0, which is the distance from the two ends 112 of the rope to the steering wheel 14 when the door 300 is fully closed. The overall length change of the pull rope 11 and the elastic element 12 can be obtained as c-c0, that is, the length change of the elastic element 12 is c-c0.

[0085] In some specific embodiments, the movable part 13 is provided on the body 200. The movable part 13 is a rotating part or a moving part. The movable part 13 pulls the pull rope 11 during its movement.

[0086] Therefore, when the movable part 13 pulls the pull rope 11 during the movement, the position where the pull rope 11 is connected to the movable part 13 can move with the movable part 13, so that the pull rope 11 can drive the elastic part 12 to produce a change in deformation.

[0087] In this application, the type of movable component 13 is not limited; the movable component 13 only needs to be able to connect to the pull rope 11 and drive the elastic component 12 to produce a change in deformation when rotating or moving. For example, in Figure 7 In the example, the movable element 13 is set as a cam. When the cam rotates to different angles, it can stop the pull rope 11 at different positions, causing the pull rope 11 to drive the elastic element 12 to deform. For another example, the movable element 13 can be set as a lead screw. During the movement, the lead screw stops the pull rope 11, causing the pull rope 11 to move at the position stopped by the lead screw, so that the pull rope 11 can also drive the elastic element 12 to deform.

[0088] Other operations of the automatic door opening and closing control method of the household appliance 1000 according to the present invention are known to those skilled in the art and will not be described in detail here.

[0089] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0090] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling the automatic opening and closing of a household appliance, the household appliance comprising a body (200), a door (300), a switching device (100), and a sensor for detecting the opening extent of the door (300), wherein the lower end of the door (300) is rotatably connected to the body (200), characterized in that, The switching device (100) includes: a pull rope (11) with one end (111) and the other end (112) at its two ends, the one end (111) being connected to the body (200) and the other end (112) being connected to the door (300); an elastic element (12) connected between the one end (111) and the body (200), or between the other end (112) and the door (300); and a control component including a movable element (13) capable of contacting the pull rope (11), the movable element (13) being configured to adjust the pulling amplitude of the pull rope (11) during movement to adjust the extension and retraction of the elastic element (12); The method includes the following steps: S10: Obtain user instructions, the user instructions including adjusting the opening range of the door (300) to the target range R0; S30: Obtain the current opening radius R of the door (300); S50: Compare the current amplitude R with the target amplitude R0; When the comparison result is that the current amplitude R has not reached the target amplitude R0, the active component (13) is controlled to move for a first set time and then the process returns to step S30. When the comparison result indicates that the current amplitude R has reached the target amplitude R0, proceed to step S70; S70: After confirming that the switching device (100) is in the corresponding state, the adjustment ends. In step S50, after the active component (13) is controlled to move for a first set time and before returning to step S30, the active component (13) is controlled to stop moving and wait for a second set time. The control of the active component (13) in step S50 includes the following stages: S51, Acceleration stage: Lengthen or shorten the elastic element (12) to make the length deformation of the elastic element (12) reach the first deformation amount ΔX1, so that the door body (300) changes from static to rotating; S52, Stabilization Phase: Adjust the length deformation of the elastic element (12) to the second deformation amount ΔX2, so that the gravitational torque of the current opening amplitude of the door (300) is equal to the current tension torque of the pull rope (11) on the door (300).

2. The automatic door opening and closing control method for household appliances according to claim 1, characterized in that, The switching device (100) further includes a locking member for locking the door (300) when the door (300) is fully closed. In step S10, when the user instruction is to adjust the opening range of the door (300) from the fully closed range R1 to the target range R0, step S21 is further included after step S10: control the locking member to release the door (300). In step S10, when the target amplitude R0 is the fully closed amplitude R1, the determination of the switch device (100) in the corresponding state in step S70 includes: controlling the locking member to lock the door body (300).

3. The automatic door opening and closing control method for household appliances according to claim 1, characterized in that, Step S50 further includes: comparing the current amplitude R with the fully open amplitude R2 and the fully closed amplitude R1; When the comparison result is that the current amplitude R is greater than the fully open amplitude R2 of the door (300), or when the comparison result is that the current amplitude R is less than the fully closed amplitude R1 of the door (300), a fault message is issued.

4. The automatic door opening and closing control method for a household appliance according to any one of claims 1-3, characterized in that, In the stabilization phase of step S52, the length deformation of the elastic element (12) is adjusted once every set time interval.

5. The automatic door opening and closing control method for household appliances according to claim 4, characterized in that, The control of the movable element (13) in step S50, after step S52, further includes: S53, Deceleration phase: Stop the movement of the moving part (13), and when the door body (300) reaches balance again due to the pulling of the pull rope (11) during rotation, the door body (300) stabilizes at the current amplitude R.

6. The automatic door opening and closing control method for household appliances according to claim 4, characterized in that, The switching device (100) also includes a steering wheel (14), which is located between the movable part (13) and the two ends (112) of the rope in the length direction of the pull rope (11); In the stabilization phase of step S52, adjustment is stopped when the following conditions are met: ； Wherein, the rotation center of the door (300) is point A1, the tangent point of the pull rope (11) at the two ends (112) of the rope on the steering wheel (14) is A2, the point of application of the pull rope (11) on the door (300) when the door (300) is fully closed is A3, and the point of application of the pull rope (11) on the door (300) when the door (300) reaches the target amplitude R0 is A4; Where a is the length of line segment A1A3, b is the length of line segment A1A2, and c is the length of line segment A2A4; Furthermore, α is the angle between line segments A1A2 and A1A3, β is the angle between line segments A1A3 and A1A4, and is also the rotation angle when the door (300) reaches the target amplitude R0 and is relatively completely closed.

7. The automatic door opening and closing control method for a household appliance according to any one of claims 1-3, characterized in that, The movable part (13) is provided on the body (200). The movable part (13) is a rotating part or a moving part. The movable part (13) pulls the pull rope (11) during its movement.

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