Door drive control methods for electrical appliances, electrical appliances, cleaning machines, equipment and storage media

Abstract

This invention relates to a door drive control method for an electrical appliance. The appliance includes a main body and a door. The main body contains a locking lever, a drive mechanism, and a first sensor. The locking lever has a first triggering part and a second triggering part that can trigger the first sensor. The door has a lock body and a second sensor. During door drive operation, if a door locking abnormality occurs, steps S1 to S2 are executed to automatically restore the door lock. S1 involves driving the locking lever forward for a duration of n. S2 involves driving the locking lever backward until a stall current in the drive mechanism is detected, and acquiring the sensing signal from the first sensor. If two closing signals from the first sensor are acquired during the backward movement of the locking lever, the locking abnormality is cleared; otherwise, S1 and S2 are executed repeatedly until a set number of cycles is reached, at which point a locking abnormality alarm is triggered. This door drive control method for the electrical appliance has a lower failure rate and can automatically handle abnormalities and effectively restore operation. This invention also relates to electrical appliances, cleaning machines, equipment, and storage media.

Description

Technical Field

[0001] This invention relates to a door drive control method for an electrical appliance, an electrical appliance, a cleaning machine, equipment, and a storage medium. Background Technology

[0002] For appliances with functional cavities, a door is usually installed at the opening of the main body to allow for opening and closing. During use, a door lock structure is needed to lock the door relative to the main body. With the continuous improvement of living standards, door lock structures capable of automatic sliding have begun to emerge. For example, the Chinese utility model patent CN216950005U (application number 202220352135.4), entitled "An Automatic Sliding Door Device for a Dishwasher and a Dishwasher Including the Device," discloses an automatic sliding door device comprising a housing and a cover that interlock and form a cavity between them. The cavity contains a motor, a transmission assembly, a rack, a first sensor, a second sensor, and a control system. The rack has a first trigger end, a second trigger end, and a third trigger end arranged sequentially along the direction of movement. The first sensor cooperates with the first and second trigger ends, and the second sensor cooperates with the third trigger end. The rack can have an open state, a standby state, and a closed state during movement. This utility model utilizes three trigger ends located at different positions on a rack to trigger sensors located at different positions on the housing. The control system identifies the current state of the rack based on the sensor signals from different positions, and then combines this with the feedback signal from the door lock to identify the current position of the door cover, achieving accurate control. This type of sliding door device can realize the opening and closing of the door. However, this sliding door device still has the following problems: 1. There are two sensors used to detect the door status, which cannot effectively determine the engagement relationship between the rack and the lock body, and the failure rate is relatively high. 2. In actual use, it is very easy for external force to cause the door to fail to close or open. However, in existing technology, the device simply stops working when an abnormality occurs, and automatic recovery is not possible, requiring the user to manually operate the electrical system again. Summary of the Invention

[0003] The first technical problem to be solved by the present invention is to provide a door drive control method for electrical appliances that has a lower failure rate and can automatically handle and effectively restore operation when an abnormality occurs, in contrast to the above-mentioned prior art.

[0004] The second technical problem to be solved by the present invention is to provide an electrical appliance that applies the aforementioned door opening and closing control method in light of the prior art.

[0005] The third technical problem to be solved by the present invention is to provide a cleaning machine with a higher degree of automation and greater user-friendliness compared to the above-mentioned prior art.

[0006] The fourth technical problem to be solved by the present invention is to provide an electronic device and a storage medium that can realize the aforementioned door opening and closing control method, in contrast to the prior art.

[0007] The technical solution adopted by the present invention to solve the first technical problem mentioned above is as follows: a door drive control method for an electrical appliance, characterized in that: the electrical appliance includes a main body and a door body that can be matched for opening and closing; the main body is provided with a locking rod, a drive mechanism for driving the locking rod to move, and a first sensor; the locking rod is provided with a first trigger part that can trigger the first sensor corresponding to the standby position, and a second trigger part that can trigger the first sensor corresponding to the locked position; the door body is provided with a lock body that can be matched and engaged with the locking rod, and a second sensor for detecting the engagement state between the locking rod and the lock body;

[0008] Based on the sensing signal from the first sensor, the operating current of the drive mechanism, the movement time of the locking bar, and the sensing signal from the second sensor, the drive mechanism is controlled to drive the locking bar, thereby enabling the automatic drive of the door.

[0009] If a door locking malfunction occurs during the door drive operation, the automatic lock handling method will be executed to automatically restore the door lock.

[0010] The automatic handling method for locking anomalies includes: S1, controlling the drive mechanism to drive the locking bar forward for a duration n, wherein the duration n is sufficient for both the first trigger and the second trigger to move in front of the first sensor; S2, controlling the drive mechanism to drive the locking bar backward until a stall current of the drive mechanism is detected, while simultaneously acquiring the sensing signal from the first sensor in real time; if two closing signals from the first sensor are acquired during the backward movement of the locking bar, it is determined that the locking anomaly has been cleared; otherwise, S1 and S2 are executed repeatedly. If the locking anomaly is not cleared after reaching a set number of cycles, a locking anomaly alarm is triggered.

[0011] To ensure the normal operation of the electrical appliances, when the appliances are performing functions that require locking the door, they will automatically handle any locking abnormalities during the door's drive operation; otherwise, they will not respond to any locking abnormalities during the door's drive operation.

[0012] To avoid user confusion caused by frequent actions, and to address the issue of the door drive not responding to locking abnormalities during operation, when the appliance performs a new function that requires locking the door, it will re-evaluate whether there is a locking abnormality during the door drive operation, and automatically handle the locking abnormality if it occurs.

[0013] As an improvement, the automatic drive operation of the door includes:

[0014] After receiving the door opening command, the drive mechanism drives the lock rod to push the door until the stall current of the drive mechanism is detected, thereby reaching the ejection position. At the same time, in the ejection position, the first trigger part and the second trigger part on the push rod are both located in front of the first sensor, and the sensing signal of the first sensor is a disconnection signal.

[0015] In the ejected position, when the second sensor signal corresponding to the separation of the locking bar from the lock body is detected, the drive mechanism drives the locking bar to retract to the standby position. In the standby position, the first triggering part triggers the first sensor, so that the sensing signal of the first sensor is a closed signal.

[0016] In the standby position, when the second sensor corresponding to the interlock between the lock rod and the lock body is detected, the drive mechanism drives the lock rod to pull the door back until the stall current of the drive mechanism is detected, and then reaches the locked position. At the same time, in the locked position, the second triggering part triggers the first sensor so that the first sensor's sensing signal is a closed signal.

[0017] When the drive mechanism moves the locking bar, the position of the locking bar is determined based on the sensing signal of the first sensor, the operating current of the drive mechanism, the movement time of the locking bar, and the sensing signal of the second sensor.

[0018] Preferably, a door locking malfunction is determined to have occurred when any of the following conditions are met;

[0019] Scenario 1: During the process of the drive mechanism completing one full drive stroke of the door, if the number of times the first sensor switches to a closed signal is not equal to 2; where one full drive stroke of the door includes from the top position to the standby position and from the standby position to the locked position;

[0020] Scenario 2: No stall current was detected in the drive mechanism when the drive operation to the locking position was completed;

[0021] Scenario 3: When the drive operation to move the locking lever to the locked position is completed, the detection signal of the first sensor is a disconnect signal.

[0022] In order to effectively detect the situation where the door is touched due to user intervention or other external factors during the process of returning to the standby position, and thus avoid the situation of pinching the hand, if the drive mechanism detects the stall current of the drive mechanism when the drive mechanism drives the lock bar from the top position to the standby position without detecting the closed signal of the first sensor, it is determined that a standby abnormality has occurred.

[0023] In case of standby malfunction, the drive mechanism drives the locking lever forward to the top position.

[0024] As an improvement, the following steps are included:

[0025] S10, Initialization;

[0026] S20. Obtain the door opening command signal / the sensing signal of the first sensor / the sensing signal of the second sensor;

[0027] S30. Obtain the current position information of the locking lever;

[0028] S40. Determine whether a function signal requiring the door to be locked has been obtained. If yes, proceed to S50; otherwise, end.

[0029] S50: Drive the locking bar to the locking position based on its current position, thereby locking the door.

[0030] S60. Determine whether a door locking abnormality occurs during the door driving process; if yes, use the automatic handling method for locking abnormalities to handle it; if no, execute S70.

[0031] S70. After locking the door, control the electrical appliances to perform the corresponding functions.

[0032] As an improvement, the initialization process in S10 is performed when the electrical appliance is powered on.

[0033] Initialization work includes:

[0034] SS1. If the sensing signal from the first sensor is a closed signal, then execute SS2.

[0035] If the first sensor's signal is an open signal and the second sensor's signal is a closed signal, then execute SS3; if the first sensor's signal is an open signal and the second sensor's signal is an open signal, then execute SS4.

[0036] SS2. If the second sensor's sensing signal is a closed signal, initialize the lock lever position to the locked position, maintain the current lock lever position, and simultaneously set a door locking abnormality flag for subsequent automatic handling of locking abnormalities; then execute SS6.

[0037] If the second sensor's signal is an open signal, control the drive mechanism to move the locking lever forward for time m; clear the number of times the first sensor switches to a closed signal, and initialize the locking lever position to the standby position; then execute SS6.

[0038] SS3: Control the drive mechanism locking lever to move forward until the stall current of the drive mechanism is detected or the time reaches the set time T0, then initialize the locking lever position to the push-out position, and at the same time clear the number of times the first sensor switches to a closed signal; then execute SS6.

[0039] If the sensing signal of the second sensor changes to an open signal during the forward pushing of the locking lever, the control drive mechanism stops working and SS4 is executed.

[0040] SS4. Control the drive mechanism to move the locking lever backward;

[0041] If the sensing signal of the first sensor changes from an open signal to a closed signal, the control drive mechanism stops working, the locking lever position is initialized to the standby position, and then SS6 is executed.

[0042] If a stall current is detected in the drive mechanism, the drive mechanism is controlled to stop working, and SS5 is executed;

[0043] If the time taken for the drive mechanism to move the locking bar reaches the set time T0, the drive mechanism is controlled to stop working, the locking bar position is initialized to the standby position, and the door standby abnormality flag is set to facilitate automatic handling of standby abnormalities; then SS6 is executed.

[0044] SS5. If the sensing signal of the first sensor also changes from an open signal to a closed signal, control the drive mechanism to move the locking lever forward for time m, initialize the locking lever position to the standby position, and clear the number of times the first sensor changes to a closed signal; then execute SS6.

[0045] If the first sensor's sensing signal remains off, initialize the lock lever position to the standby position and set a door standby abnormality flag for subsequent automatic handling of standby abnormalities; then execute SS6.

[0046] SS6. The initialization of the locking lever position is complete.

[0047] As an improvement, in step S30, if the locking bar position is the ejected position, then S100 is executed;

[0048] S100. If no door opening command signal is received, the current state is maintained, and step S30 ends.

[0049] If an open door signal command is received, execute S101;

[0050] S101, Control the drive mechanism to drive the locking lever forward until any of the following situations occur;

[0051] Case A1: If a stall current is detected in the drive mechanism, the drive mechanism is controlled to stop working. The push rod stops after stalling. The locking rod position is set to the push-out position. At the same time, the number of times the first sensor switches to a closed signal is cleared to zero. Step S30 ends.

[0052] Case A2: When the time for the drive mechanism to move the locking bar reaches the set time T0, the drive mechanism is controlled to stop working, the locking bar position is set to the out position, and the number of times the first sensor switches to a closed signal is cleared to zero. Step S30 ends.

[0053] Case A3: During the forward driving of the locking lever, if the sensing signal of the second sensor changes to a disconnect signal, the control drive mechanism stops working, and then step S102 is executed;

[0054] S102, Control the drive mechanism to drive the locking lever to move backward;

[0055] During the process of driving the locking lever to move backward, if the sensing signal of the first sensor changes from an open signal to a closed signal, the control drive mechanism stops working, the locking lever position is updated to the standby position, and the standby abnormality mark is cleared. Step S30 ends.

[0056] If a stall current is detected in the drive mechanism during the backward movement of the drive locking lever, then S103 is executed.

[0057] During the process of driving the locking lever to move backward, if the sensing signal of the second sensor changes to a closed signal, the drive mechanism is controlled to stop working, and then S104 is executed.

[0058] S103, Case B1: If the sensing signal of the first sensor is a closed signal, then control the drive mechanism to drive the locking bar forward for time m, update the locking bar position to the standby position, clear the standby abnormal mark, and reset the number of times the first sensor jumps to a closed signal to zero. Step S30 ends.

[0059] Case B2: If the sensing signal of the first sensor is a disconnect signal, then update the position of the locking lever to the standby position and set a standby abnormality flag. Step S30 ends.

[0060] Case B3: If the time for the drive mechanism to move the locking lever reaches the set time T0, the drive mechanism is controlled to stop working, the locking lever position is updated to the standby position, and a standby abnormality flag is set. Step S30 ends.

[0061] S104. Control the drive mechanism to drive the locking bar to move forward. During the process of driving the locking bar to move forward, different operations are performed for situations C1, C2 and C3 respectively.

[0062] Case C1: If a stall current is detected in the drive mechanism, the drive mechanism is controlled to stop working, the locking lever position is set to the push-out position, and the number of times the first sensor switches to a closed signal is cleared to zero. Step S30 ends.

[0063] Case C2: If the time for the drive mechanism to move the locking bar reaches the set time T0, control the drive mechanism to stop working, set the locking bar position to the top position, and at the same time clear the number of times the first sensor jumps to the closed signal, and the step S30 ends.

[0064] Case C3: If the sensing signal of the second sensor changes to a disconnect signal during the forward movement of the locking lever, the control drive mechanism stops working and then step S102 is executed.

[0065] As an improvement, in step S30, if the obtained position of the locking lever is the locked position, then S200 is executed;

[0066] S200. If the sensing signal of the second sensor is a closed signal and no door opening command signal is obtained, then the current state is maintained and step S30 ends.

[0067] If the sensing signal from the second sensor is a closing signal, and an opening signal command is also received, then S201 is executed;

[0068] If the sensing signal from the second sensor is an off signal, then execute S202;

[0069] S201. Control the drive mechanism to drive the locking lever forward until any of the following situations occur;

[0070] Case D1: If a stall current is detected in the drive mechanism, the drive mechanism will be controlled to stop working.

[0071] If the time for the drive mechanism to move the locking lever is less than or equal to the minimum running time Tmin, then update the locking lever position to the standby position and execute S102;

[0072] If the time for the drive mechanism to move the locking lever is within the normal time range, then update the locking lever position to the ejected position and execute S101;

[0073] Case D2: If the time for the drive mechanism to move the locking bar reaches the set time T0, control the drive mechanism to stop working, update the locking bar position to the push-out position, and at the same time clear the number of times the first sensor jumps to the closed signal, and step S30 ends.

[0074] Case D3: During the forward movement of the locking lever, if the sensing signal of the second sensor changes to an off signal, the control drive mechanism will stop working;

[0075] If the time for the drive mechanism to move the locking lever is less than or equal to the minimum running time Tmin, then update the locking lever position to the standby position, and clear the standby abnormality mark. Step S30 ends.

[0076] If the time taken for the drive mechanism to move the locking lever is greater than the minimum running time Tmin, then update the locking lever position to the ejected position and execute S102;

[0077] S202, control the drive mechanism to move the locking lever forward for a time m, then update the locking lever position to the standby position, and at the same time clear the standby abnormal mark, and reset the number of times the first sensor jumps to a closed signal to zero. Step S30 ends.

[0078] As an improvement, in step S30, if the lock lever position is obtained as a standby position, then S300 is executed;

[0079] S300. If the sensing signal of the second sensor is a disconnect signal, then maintain the current state and step S30 ends.

[0080] If the sensing signal from the second sensor is a closed signal, then execute S301;

[0081] S301. If there is no standby abnormality flag, control the drive mechanism to drive the locking lever to move backward, and then execute S302; if there is a standby abnormality flag, control the drive mechanism to drive the locking lever to move forward, and then execute S303.

[0082] S302, During the backward movement of the locking lever;

[0083] If a stall current is detected in the drive mechanism, the drive mechanism is controlled to stop working, and then S3021 is executed;

[0084] If the time for the drive locking lever to move backward reaches the set time T0, the drive mechanism is controlled to stop working, and then S3022 is executed;

[0085] If the sensing signal of the second sensor changes to an off signal, the control drive mechanism stops working, and then S3023 is executed;

[0086] S3021. If the current sensing signal of the first sensor is an open signal, or the number of times the current sensing signal of the first sensor changes to a closed signal is less than 2, then update the locking lever position to the locked position and set a locking abnormality flag. Step S30 ends.

[0087] If the current sensing signal of the first sensor is a closed signal, and the number of times the current sensing signal of the first sensor changes to a closed signal is greater than or equal to 2, then update the locking lever position to the locked position, clear the locking abnormality mark, and end step S30;

[0088] S3022. Update the locking lever to the locked position, set a locking error flag, and step S30 ends;

[0089] S3023. Update the lock lever position to the standby position. Step S30 ends.

[0090] S303. If a stall current is detected in the drive mechanism, the drive mechanism is controlled to stop working, the locking rod position is updated to the push-out position, and the number of times the first sensor switches to a closed signal is cleared to zero. Step S30 ends.

[0091] If the time for the drive locking lever to move reaches the set time T0, the drive mechanism is controlled to stop working, the locking lever position is updated to the push-out position, and the number of times the first sensor jumps to the closed signal is cleared to zero. Step S30 ends.

[0092] If the sensing signal of the second sensor changes to a disconnect signal during the forward movement of the locking lever, the control drive mechanism stops working, the locking lever position is updated to the ejected position, and then step S102 is executed.

[0093] Preferably, both the first sensor and the second sensor are microswitches.

[0094] Preferably, the driving mechanism includes a motor, a drive gear set that is connected to the drive end of the motor, and a rack portion that meshes with the drive gear set is formed on the locking rod along the moving direction.

[0095] The technical solution adopted by the present invention to solve the second technical problem mentioned above is as follows: an electrical appliance, comprising a main body and a door body that can be matched and opened / closed; the main body is provided with a locking rod, a driving mechanism for driving the locking rod to move, and a first sensor; the door body is provided with a lock body that can be matched and engaged with the locking rod, characterized in that: the locking rod is provided with a first trigger part that can trigger the first sensor corresponding to the standby position, and the locking rod is provided with a second trigger part that can trigger the first sensor corresponding to the closed position; the door body is also provided with a second sensor for detecting the engagement state between the locking rod and the lock body;

[0096] It also includes a processor and a memory. The processor is electrically connected to the drive mechanism, the first sensor, and the second sensor. The memory stores a computer program for running on the processor. When the processor executes the computer program, it implements the aforementioned door drive control method for the electrical appliance.

[0097] The technical solution adopted by the present invention to solve the third technical problem mentioned above is as follows: a cleaning machine, comprising a main body and a door body that can be matched and opened and closed; the main body is provided with a locking rod, a driving mechanism for driving the locking rod to move, and a first sensor; the door body is provided with a lock body that can be matched and engaged with the locking rod, characterized in that: the locking rod is provided with a first trigger part that can trigger the first sensor corresponding to the standby position, and the locking rod is provided with a second trigger part that can trigger the first sensor corresponding to the closed position; the door body is also provided with a second sensor for detecting the engagement state between the locking rod and the lock body;

[0098] It also includes a processor and a memory. The processor is electrically connected to the drive mechanism, the first sensor, and the second sensor. The memory stores a computer program for running on the processor. When the processor executes the computer program, it implements the aforementioned door drive control method for the electrical appliance.

[0099] The technical solution adopted by the present invention to solve the fourth technical problem mentioned above is as follows: an electronic device, including a memory and a processor, wherein the memory stores a computer program for running on the processor, characterized in that the processor executes the computer program to implement the aforementioned door drive control method of the electrical appliance.

[0100] A computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the aforementioned door drive control method for electrical appliances.

[0101] Compared with existing technologies, the advantages of this invention are as follows: The door drive control method for electrical appliances in this invention can automatically handle locking anomalies instead of directly reporting errors, automatically restoring normal locking and ensuring the normal operation and use of the electrical appliance. This results in a lower failure rate and higher user satisfaction for appliances using this door drive control method. Furthermore, cleaning machines using this door drive control method have a higher degree of automation and are more user-friendly. Especially during cleaning operations, it can avoid water overflow or unnecessary error reports caused by an unlocked door. Attached Figure Description

[0102] Figure 1 This is a view of the locking lever in the extended position in an embodiment of the present invention.

[0103] Figure 2 This is a view of the locking lever in the standby position in an embodiment of the present invention.

[0104] Figure 3 This is a view of the locking lever in the locked position according to an embodiment of the present invention. Detailed Implementation

[0105] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0106] In this embodiment, the electrical appliance includes a main body and a door that can be matched and opened / closed. Existing electrical appliances, to ensure safety during use, lock the door to the main body when using certain functions to prevent safety issues caused by the door opening during operation. For example, a dishwasher requires the door to be locked onto the main body during the washing process to prevent water overflow.

[0107] like Figures 1 to 3As shown, the main body is equipped with a locking rod 1, a driving mechanism 2 for driving the locking rod 1 to move, and a first sensor 3. The door body is equipped with a lock body 4 that can be matched and engaged with the locking rod 1. The locking structure between the locking rod 1 and the lock body 4 can adopt the structure in the prior art. Usually, the locking rod 1 will have a locking hook structure, and the lock body 4 can be flipped based on the position of the locking rod 1 to achieve mutual engagement and disengagement with the locking rod 1.

[0108] In this embodiment, a first triggering part 11 that can trigger the first sensor 3 is provided on the locking lever 1 corresponding to the standby position. That is, when the locking lever 1 moves to the standby position, the first triggering part 11 happens to move the locking lever 1 to the position where the first sensor 3 is set, thereby triggering the first sensor 3. At this time, the signal of the first sensor 3 changes from an open signal to a closed signal. A second triggering part 12 that can trigger the first sensor 3 is provided on the locking lever 1 corresponding to the closed position. Like the first triggering part 11, the second triggering part 12 moves with the locking lever 1. When the locking lever 1 moves to the closed position, the second triggering part 12 triggers the first sensor 3, at which time the signal of the first sensor 3 changes from an open signal to a closed signal.

[0109] In addition, the door is equipped with a second sensor for detecting the engagement state between the locking rod 1 and the lock body 4. When the locking rod 1 and the lock body 4 are engaged, the second sensor will be triggered and will change from an open signal to a closed signal. When the locking rod 1 and the lock body 4 are opened, the second sensor will change from a closed signal to an open signal.

[0110] In this embodiment, both the first sensor 3 and the second sensor are microswitches. The drive mechanism 2 includes a motor, a drive gear set that is connected to the drive end of the motor, and a rack portion that meshes with the drive gear set is formed on the locking rod 1 along the moving direction.

[0111] The appliance also includes a processor and a memory. The processor is electrically connected to the drive mechanism 2, the first sensor 3, and the second sensor. The memory stores a computer program for running on the processor. When the processor executes the computer program, it implements the door drive control method of the appliance described below.

[0112] The electrical appliance can be any appliance that requires door locking during operation, such as washing machines, dishwashers, and other cleaning machines.

[0113] In this embodiment, the door drive control method of the electrical appliance, when performing door control work, controls the drive mechanism 2 to drive the lock rod 1 based on the sensing signal of the first sensor 3, the working current of the drive mechanism 2, the movement time of the lock rod 1, and the sensing signal of the second sensor, thereby performing automatic door drive work.

[0114] During the movement of the door, the door has several typical positions that can be conveniently used as control nodes, including the ejected position, the standby position, and the locked position. Corresponding to the ejected position, the standby position, and the locked position, the door's position relative to the main body moves backward in sequence.

[0115] Based on these positions of the door, the automatic drive operation of the door includes the following:

[0116] For appliances capable of automatic door operation, a user-operated door opening button is typically provided on the main body. Operating this button sends an opening signal. Alternatively, the user can communicate with the appliance via a mobile device to send an opening signal. Upon receiving the opening command, the drive mechanism 2 drives the locking rod 1 to push the door until the stall current of the drive mechanism 2 is detected, reaching the ejected position. Simultaneously, in the ejected position, the first trigger part 11 and the second trigger part 12 on the push rod are both located in front of the first sensor 3, and the sensing signal from the first sensor 3 is an open signal.

[0117] In the extended position, when the second sensor detects the separation of the locking lever 1 from the lock body 4, it indicates that the locking lever 1 and the lock body 4 have separated. The user can then pull the door outwards to open it and place items inside. Simultaneously, to avoid the locking lever 1 affecting the user, the drive mechanism 2 retracts the locking lever 1 to the standby position. In the standby position, the first trigger 11 triggers the first sensor 3, causing the sensor 3 to send a closed signal.

[0118] Locking lever 1 remains in the standby position. After the user opens the door, they will close it. When the user pushes the door, the lock body 4 on the door will move towards locking lever 1, thus locking the lock body 4 onto locking lever 1. When the second sensor corresponding to the interlocking of locking lever 1 and lock body 4 is detected, it indicates that locking lever 1 and lock body 4 are locked. The drive mechanism 2 then drives locking lever 1 to pull the door back until the stall current of the drive mechanism 2 is detected, thus reaching the locked position. This achieves mutual locking between the door and the main body, effectively preventing leakage of media from the main body. Simultaneously, when locking lever 1 reaches the locked position, the second trigger 12 triggers the first sensor 3, causing the first sensor 3 to send a closed signal.

[0119] When the drive mechanism 2 drives the locking rod 1 to move, the position of the locking rod 1 is determined based on the sensing signal of the first sensor 3, the working current of the drive mechanism 2, the moving time of the locking rod 1, and the sensing signal of the second sensor, thereby realizing the drive mechanism 2 to drive the locking rod 1, and thus realizing the automatic drive control of the door.

[0120] Specifically, the door drive control method for electrical appliances includes the following steps.

[0121] S10. Initialization: When the appliance is first powered on, an initialization process will be performed to determine and store the position of the locking lever 1, which will facilitate subsequent control. During the subsequent automatic door drive process, the position of the locking lever 1 will be automatically updated as the drive process progresses.

[0122] The initialization process includes steps SS1 through SS6.

[0123] SS1. If the sensing signal of the first sensor 3 is a closed signal, then execute SS2.

[0124] If the sensing signal of the first sensor 3 is an open signal and the sensing signal of the second sensor is a closed signal, then SS3 is executed. If the sensing signal of the first sensor 3 is an open signal and the sensing signal of the second sensor is an open signal, then SS4 is executed.

[0125] SS2. If the sensing signal of the second sensor is a closed signal, initialize the position of the locking lever 1 to the locked position and maintain the current position of the locking lever 1. In order to prevent the second sensor from short-circuiting, a door locking abnormality flag is set so that when the electrical appliances perform their functions, they can re-detect and judge, and then automatically handle the locking abnormality if it is determined that a locking abnormality has occurred; then execute SS6.

[0126] If the second sensor's signal is an open signal, the drive mechanism 2 is controlled to move the locking lever 1 forward for a time m, where m is determined based on the drive speed. This ensures that the lock body 4 on the door and the locking lever 1 are in a relatively open state, facilitating the user's closing operation. The number of times the first sensor 3 switches to a closed signal is reset to zero, and the position of the locking lever 1 is initialized to the standby position. Then, SS6 is executed.

[0127] SS3: Control the drive mechanism 2, locking lever 1, to move forward until a stall current is detected in the drive mechanism 2. In this state, the push rod is in its extended position, thus opening the door and reminding the user that the door is not closed, allowing the user to close it. Alternatively, control the drive mechanism 2, locking lever 1, to move forward until a set time T0 is reached, then initialize the locking lever 1 to the push-out position, and simultaneously reset the number of times the first sensor 3 has switched to a closed signal to zero. Then execute SS6.

[0128] If the sensing signal of the second sensor changes to a disconnect signal during the forward pushing of the locking lever 1, the control drive mechanism 2 stops working and executes SS4.

[0129] SS4, control drive mechanism 2 drives lock rod 1 to move backward.

[0130] If the sensing signal of the first sensor 3 changes from an open signal to a closed signal, the control drive mechanism 2 stops working, the locking lever 1 is initialized to the standby position, and then SS6 is executed.

[0131] If a stall current is detected in drive mechanism 2, control drive mechanism 2 to stop working and execute SS5.

[0132] If the time for the drive mechanism 2 to move the locking lever 1 reaches the set time T0, then control the drive mechanism 2 to stop working, initialize the position of the locking lever 1 to the standby position, and set the door standby abnormality flag to facilitate automatic handling of standby abnormalities in the future; then execute SS6.

[0133] SS5. If the sensing signal of the first sensor 3 also changes from an open signal to a closed signal, then control the drive mechanism 2 to drive the locking lever 1 forward for time m, initialize the position of the locking lever 1 to the standby position, and reset the number of times the first sensor 3 changes to a closed signal to zero. Then execute SS6.

[0134] If the sensing signal of the first sensor 3 remains off, the position of the locking lever 1 is initialized to the standby position. Since the condition for the number of jumps of the first sensor 3 is not met, a standby abnormality flag is set for automatic handling of standby abnormalities in the future; then SS6 is executed.

[0135] The initialization of position SS6 and lock lever 1 is complete.

[0136] S20, Obtain the door opening command signal / the sensing signal of the first sensor 3 / the sensing signal of the second sensor.

[0137] S30. Obtain the current position information of the locking lever 1. This position information is stored in the memory of the electrical appliance and is updated in real time based on the automatic drive of the door. In this step, the automatic drive control of the door will be performed based on the obtained position information and the signal obtained in S20, as detailed below.

[0138] S40. Determine whether a function signal requiring the door to be locked has been obtained. If yes, execute S50; otherwise, end.

[0139] If the appliance is a dishwasher, and a washing signal is received, the following door locking procedure needs to be performed.

[0140] S50. Based on the current position of locking lever 1, drive locking lever 1 to the locked position, thereby locking the door. Normally, locking lever 1 is in the standby position during this step, meaning locking lever 1 and lock body 4 are engaged rather than closed. This allows the user to perform relevant operations on the door before the function begins. Of course, locking lever 1 can also be in other positions; this step will still complete the door locking process.

[0141] S60. During the process of driving the locking lever 1 to move to the locking position to lock the door relative to the main body, determine whether an abnormal locking situation occurs during the door driving operation. If so, use the automatic handling method for abnormal locking situation to handle it and automatically restore the locking of the door. If not, execute S70.

[0142] S70. After locking the door, control the electrical appliances to perform the corresponding functions.

[0143] In this embodiment, the automatic handling method for abnormal locking situations includes: S1, controlling the drive mechanism 2 to drive the locking lever 1 forward for a duration n, where the duration n is specifically determined based on the set driving speed of the locking lever 1, and the duration n is sufficient to ensure that both the first trigger part 11 and the second trigger part 12 move to the front of the first sensor 3. This step achieves the push-out drive of the locking lever 1, which in turn pushes the door forward, so that the door is in an unlocked state relative to the main body.

[0144] S2. Control the drive mechanism 2 to drive the locking lever 1 backward until a stall current is detected in the drive mechanism 2, thus restarting the door locking drive. Simultaneously, acquire the sensing signal from the first sensor 3 in real time. If two closing signals are acquired from the first sensor 3 during the backward movement of the locking lever 1 (i.e., the locking lever 1 first reaches the standby position, triggering a closing signal from the first sensor 3, and then the locking lever 1 reaches the locked position, triggering a second closing signal from the first sensor 3), then the locking anomaly is cleared. Otherwise, repeat S1 and S2. If the locking anomaly is not cleared after the set number of cycles, a locking anomaly alarm is triggered.

[0145] Based on the structure of the electrical appliance in this embodiment and the aforementioned door drive control method, a door locking malfunction is determined to have occurred when any of the following conditions are met: Condition 1: During the process of the drive mechanism 2 completing one full drive stroke of the door, if the number of times the first sensor 3 switches to a closed signal is not equal to 2, it indicates that the drive of the locking lever 1 is not in place, and a door locking malfunction is determined. One full drive stroke of the door includes from the top position to the standby position and from the standby position to the locked position.

[0146] Scenario 2: When the drive operation of the drive lock lever 1 to the locking position is completed, no stall current is detected in the drive mechanism 2, indicating that the door body is not tightened relative to the main body, thus confirming that the door body locking is abnormal.

[0147] Scenario 3: When the driving operation of the locking lever 1 to the locking position is completed, the detection signal of the first sensor 3 is a disconnect signal, indicating that the locking lever 1 has not been driven to the locking position, and the door locking is abnormal.

[0148] In this embodiment, the electrical appliance only performs automatic handling of locking anomalies during the door driving process when performing a function that requires locking the door. Otherwise, it does not respond to locking anomalies during door driving; that is, for functions that do not require locking, automatic handling of locking anomalies is not performed, thus ensuring simplified control. However, in cases where the appliance does not respond to locking anomalies during door driving, when performing a new function that requires locking the door, the appliance re-determines whether a locking anomaly exists during door driving and performs automatic handling of the locking anomaly if one occurs. This effectively ensures the normal operation of the appliance and guarantees safety during operation.

[0149] Additionally, during the process of the drive mechanism 2 driving the locking lever 1 to retract from the extended position to the standby position, in order to avoid the user touching the door and causing a hand pinching problem, if the drive mechanism 2 detects a stall current without detecting the closing signal of the first sensor 3, it is determined that a standby abnormality has occurred. In the case of a standby abnormality, the drive mechanism 2 drives the locking lever 1 forward to the extended position.

[0150] In addition, in step S30, corresponding operations are performed for different positions of the obtained locking rod 1.

[0151] If the position of locking lever 1 is obtained as the outward position, then execute S100.

[0152] S100. If no door opening command signal is received, the current state is maintained, and step S30 ends.

[0153] If an open door signal command is received, execute S101.

[0154] S101. Because users can only send open door commands to appliances, and since closing is automatic, users typically cannot send close door commands. Therefore, it is necessary to consider preventing the door from trapping a hand during the process of pushing the lever back to lock the door. Based on this, the control drive mechanism 2 drives the locking lever 1 forward until any of the following situations occur.

[0155] Situation A1: If a stall current is detected in the drive mechanism 2, the drive mechanism 2 is controlled to stop working, and the push rod stops after stalling. This situation usually corresponds to the situation where the drive locking rod 1 is stalled by external force before it is fully extended, and the user opens the door again. The locking rod 1 is set to remain in the extended position, and the number of times the first sensor 3 switches to a closed signal is reset to zero. Step S30 ends.

[0156] Case A2: When the time for the drive mechanism 2 to drive the locking rod 1 to move reaches the set time T0, the drive mechanism 2 is controlled to stop working, the position of the locking rod 1 is set to the top position, and the number of times the first sensor 3 jumps to the closed signal is cleared to zero. Step S30 ends.

[0157] Case A3: During the forward drive of the locking lever 1, if the sensing signal of the second sensor changes to a disconnect signal, the drive mechanism 2 is controlled to stop working, and then step S102 is executed.

[0158] S102, Control drive mechanism 2 drives lock rod 1 to move backward;

[0159] During the process of driving the locking lever 1 to move backward, if the sensing signal of the first sensor 3 changes from an open signal to a closed signal, it means that the first triggering part 11 reaches the position of the first sensor 3 and triggers the first sensor 3. The corresponding locking lever 1 reaches the standby position, then the control driving mechanism 2 stops working, and at the same time, the position of the locking lever 1 is updated to the standby position, and the standby abnormal mark is cleared. Step S30 ends.

[0160] If a stall current is detected in the drive mechanism 2 during the process of driving the locking lever 1 to move backward, then S103 is executed.

[0161] During the process of driving the locking lever 1 to move backward, if the sensing signal of the second sensor changes to a closed signal, the driving mechanism 2 is controlled to stop working, and then S104 is executed.

[0162] S103, Situation B1: If the sensing signal of the first sensor 3 is a closed signal, it means that the current position of the locking rod 1 is the locked position, and the user cannot fasten the lock body 4 on the door to the locking rod 1. Then, control the drive mechanism 2 to drive the locking rod 1 forward for time m, update the position of the locking rod 1 to the standby position, clear the standby abnormal mark, and reset the number of times the first sensor 3 jumps to a closed signal to zero. Step S30 ends.

[0163] Case B2: If the sensing signal of the first sensor 3 is an open signal, the position of the locking lever 1 is updated to the standby position. Since the condition for the first sensor 3 to switch to a closed signal has not been met, a standby abnormality flag is set, and step S30 ends. The remaining length of the locking lever 1 outside the machine is too long; if the locking lever 1 automatically pulls the door when it is closed, it may trap a hand.

[0164] Case B3: If the time for the drive mechanism 2 to move the locking lever 1 reaches the set time T0, control the drive mechanism 2 to stop working, update the position of the locking lever 1 to the standby position, and set the standby abnormality flag. Step S30 ends.

[0165] S104. Control the drive mechanism 2 to drive the locking rod 1 to move forward. During the process of driving the locking rod 1 to move forward, different operations are performed according to situations C1, C2 and C3 respectively.

[0166] Case C1: If a stall current is detected in the drive mechanism 2, the drive mechanism 2 is stopped, the locking lever 1 is kept in the extended position, and the number of times the first sensor 3 switches to a closed signal is reset to zero. Step S30 ends. This case corresponds to the situation where the locking lever 1 is stalled by external force when it is not fully extended for the first time, and the user tries to open the door again.

[0167] Case C2: If the time for the drive mechanism 2 to drive the locking rod 1 to move reaches the set time T0, control the drive mechanism 2 to stop working, set the position of the locking rod 1 to the pushed-out position, and at the same time clear the number of times the first sensor 3 jumps to the closed signal, and the step S30 ends.

[0168] Case C3: If the sensing signal of the second sensor changes to a disconnect signal during the forward movement of the locking lever 1, the control drive mechanism 2 stops working and then the step S102 is executed.

[0169] In step S30, if the position of the locking lever 1 is obtained as the locked position, then S200 is executed.

[0170] S200. If the sensing signal of the second sensor is a closed signal and no door opening command signal is obtained, then the current state is maintained and step S30 ends.

[0171] If the sensing signal from the second sensor is a closing signal, and an opening signal command is also received, then S201 is executed;

[0172] If the sensing signal from the second sensor is an off signal, then execute S202;

[0173] S201, Control drive mechanism 2 to drive locking lever 1 forward until any of the following situations occur;

[0174] Case D1: If a stall current is detected in drive mechanism 2, then drive mechanism 2 is controlled to stop working;

[0175] If the time taken for the drive mechanism 2 to move the locking lever 1 is less than or equal to the minimum running time Tmin, then the position of the locking lever 1 is updated to the standby position, and S102 is executed. S102 is executed because if the minimum running time is not met, since the appliance does not have a door handle, the user cannot separate the door from the main body by hand. If the user wants to open the door, there needs to be a gap between the door and the main body so that the user can reach inside the door to open it.

[0176] If the time it takes for the drive mechanism 2 to move the locking lever 1 is within the normal time range, then the position of the locking lever 1 is updated to the outward position, and step S101 is executed. Step S101 is executed because the opening angle of the door relative to the main body is not large enough and it is in the outward position, so step S101 is executed to try to push the door again.

[0177] Case D2: If the time for the drive mechanism 2 to drive the locking rod 1 to move reaches the set time T0, control the drive mechanism 2 to stop working, update the position of the locking rod 1 to the push-out position, and at the same time clear the number of times the first sensor 3 jumps to the closed signal, and the step S30 ends.

[0178] Case D3: During the forward movement of the locking lever 1, if the sensing signal of the second sensor changes to an open signal, the control drive mechanism 2 will stop working;

[0179] If the time for the drive mechanism 2 to move the locking lever 1 is less than or equal to the minimum running time Tmin, then the position of the locking lever 1 is updated to the standby position, and the standby abnormality mark is cleared. Step S30 ends.

[0180] If the time taken for the drive mechanism 2 to move the locking rod 1 is greater than the minimum running time Tmin, then the position of the locking rod 1 is updated to the ejected position, and S102 is executed;

[0181] S202, control the drive mechanism 2 to move the locking lever 1 forward for a time m, then update the position of the locking lever 1 to the standby position, and at the same time clear the standby abnormal mark, and reset the number of times the first sensor 3 jumps to the closed signal to zero. Step S30 ends.

[0182] In step S30, if the position of the locking lever 1 is obtained as the standby position, then S300 is executed.

[0183] S300. If the sensing signal of the second sensor is a disconnect signal, then maintain the current state and step S30 ends.

[0184] If the sensing signal from the second sensor is a closed signal, then execute S301;

[0185] S301. If there is no standby abnormality mark, control the drive mechanism 2 to drive the locking lever 1 to move backward, and then execute S302; if there is a standby abnormality mark, control the drive mechanism 2 to drive the locking lever 1 to move forward, and then execute S303.

[0186] S302, During the process of locking lever 1 moving backward;

[0187] If a stall current is detected in drive mechanism 2, drive mechanism 2 is controlled to stop working, and then S3021 is executed;

[0188] If the time for the drive locking lever 1 to move backward reaches the set time T0, then control the drive mechanism 2 to stop working, and then execute S3022;

[0189] If the sensing signal of the second sensor changes to an off signal, the control drive mechanism 2 stops working, and then S3023 is executed;

[0190] S3021. If the current sensing signal of the first sensor 3 is an open signal, or the number of times the current sensing signal of the first sensor 3 changes to a closed signal is less than 2, it means that the locking lever 1 is blocked by external force due to too short an action time in the original standby position. Then the position of the locking lever 1 is updated to the locked position. Since the condition of the number of times the sensing signal of the first sensor 3 changes to a closed signal and the blocking requirement are not met, a locking abnormality mark is set, and step S30 ends.

[0191] If the current sensing signal of the first sensor 3 is a closed signal, and the number of times the current sensing signal of the first sensor 3 changes to a closed signal is greater than or equal to 2, then update the position of the locking lever 1 to the locked position, clear the locking abnormality mark, and end step S30.

[0192] S3022. Update the locking lever 1 to the locked position. Since the condition of the number of times the sensing signal of the first sensor 3 jumps to the closed signal and the stall requirement are not met, set a locking abnormality mark. Step S30 ends.

[0193] S3023, Update the position of locking lever 1 to the standby position, and step S30 ends.

[0194] S303. If a stall current is detected in the drive mechanism 2, the drive mechanism 2 is controlled to stop working, the position of the locking rod 1 is updated to the push-out position, and the number of times the first sensor 3 switches to a closed signal is cleared to zero. Step S30 ends.

[0195] If the time for the drive locking lever 1 to move reaches the set time T0, the control drive mechanism 2 stops working, the position of the locking lever 1 is updated to the push-out position, and the number of times the first sensor 3 jumps to the closed signal is cleared to zero. Step S30 ends.

[0196] If the sensing signal of the second sensor changes to a disconnect signal during the forward movement of the locking lever 1, the control drive mechanism 2 stops working, the position of the locking lever 1 is updated to the ejected position, and then step S102 is executed.

[0197] The door drive control method for electrical appliances in this invention can automatically handle locking anomalies instead of directly reporting errors, automatically restoring normal locking and ensuring the normal operation and use of the appliance. This results in a lower failure rate and higher user satisfaction for appliances using this door drive control method. Furthermore, cleaning machines using this method are more automated and user-friendly. Especially during cleaning operations, it avoids water overflow or unnecessary error reports caused by an unlocked door.

[0198] The present invention also relates to an electronic device, including a memory and a processor, wherein the memory stores a computer program for running on the processor, and the processor executes the computer program to implement the aforementioned door drive control method of the electrical appliance.

[0199] The present invention also relates to a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the aforementioned door drive control method for electrical appliances.

Claims

1. A door drive control method for an electrical appliance, characterized in that: The electric appliance comprises a matchable open-close body and a door body; a lock rod (1), a driving mechanism (2) for driving the lock rod (1) to move, and a first sensor (3) are arranged in the body; the lock rod (1) is provided with a first trigger part (11) capable of triggering the first sensor (3) corresponding to a standby position, and is provided with a second trigger part (12) capable of triggering the first sensor (3) corresponding to a locking position; the door body is provided with a lock body (4) capable of being matched and buckled with the lock rod (1), and a second sensor for detecting the buckling state between the lock rod (1) and the lock body (4); The driving mechanism (2) drives the lock rod (1) based on the sensing signal of the first sensor (3), the working current of the driving mechanism (2), the moving time of the lock rod (1), and the sensing signal of the second sensor, and then performs automatic driving work of the door body; If an abnormal locking condition of the door body occurs during the driving work of the door body, an automatic processing work method for the abnormal locking condition is performed to automatically restore the locking of the door body; The automatic processing work method for the abnormal locking condition comprises: S1, controlling the driving mechanism (2) to drive the lock rod (1) forward for a time length n, the time length n can satisfy that the first trigger part (11) and the second trigger part (12) are both moved to the front of the first sensor (3); S2, controlling the driving mechanism (2) to drive the lock rod (1) backward until the locked-rotor current of the driving mechanism (2) is detected, and the sensing signal of the first sensor (3) is acquired in real time; if two closing signals of the first sensor (3) are acquired during the backward movement of the lock rod (1), it is judged that the abnormal locking condition is cleared; otherwise, S1 and S2 are cyclically executed, and if the abnormal locking condition is not cleared after a set number of cycles is reached, an abnormal locking alarm is performed.

2. The door driving control method of an electric appliance according to claim 1, characterized by: The electric appliance performs the automatic processing work of the abnormal locking condition during the driving work of the door body when a function work that must lock the door body is performed, otherwise the abnormal locking condition during the driving work of the door body is not responded. 3.The door driving control method of an electric appliance according to claim 2, characterized in that: For the case that the abnormal locking condition during the driving work of the door body is not responded, when a new function that must lock the door body is performed, whether the abnormal locking condition exists is re-judged during the driving work of the door body, and the automatic processing work of the abnormal locking condition is performed when the abnormal locking condition exists.

4. The door driving control method of an electric appliance according to any one of claims 1 to 3, characterized by: The automatic driving work of the door body comprises: After the opening door instruction is acquired, the driving mechanism (2) drives the lock rod (1) to push the door to the locked-rotor current of the driving mechanism (2) based on the opening door instruction, and then reaches the ejection position, and at the ejection position, the first trigger part (11) and the second trigger part (12) on the push rod are both located in front of the first sensor (3), and the sensing signal of the first sensor (3) is an open signal; At the ejection position, when the second sensor sensing signal corresponding to the separation of the lock rod (1) and the lock body (4) is detected, the driving mechanism (2) drives the lock rod (1) to retreat to the standby position, and at the standby position, the first trigger part (11) triggers the first sensor (3) to make the sensing signal of the first sensor (3) a closed signal; In the standby position, when the second sensor corresponding to the interlocking of the lock rod (1) and the lock body (4) detects the sensing signal, the driving mechanism (2) drives the lock rod (1) to retreat the sliding door to the locked position, and the second trigger part (12) triggers the first sensor (3) to make the sensing signal of the first sensor (3) be a closed signal; When the driving mechanism (2) drives the lock rod (1) to move, the position of the lock rod (1) is judged based on the sensing signal of the first sensor (3), the working current of the driving mechanism (2), the moving time of the lock rod (1), and the sensing signal of the second sensor. 5.The door driving control method of claim 4, wherein: When any of the following conditions occurs, it is judged that the door body locking abnormality occurs; Condition one: during the complete driving stroke of the driving mechanism (2) to the door body, if the number of times that the first sensor (3) jumps to the closed signal is not equal to 2; wherein the complete driving stroke of the driving mechanism (2) to the door body includes from the ejection position to the standby position, and from the standby position to the locked position; Condition two: when the driving work of the driving mechanism (2) to drive the lock rod (1) to the locked position is completed, the locked current of the driving mechanism (2) is not detected; Condition three: when the driving work of the driving mechanism (2) to drive the lock rod (1) to the locked position is completed, the detection signal of the first sensor (3) is an open signal. 6.The door driving control method of claim 4, wherein: During the process that the driving mechanism (2) drives the lock rod (1) to retreat from the ejection position to the standby position, if the locked current of the driving mechanism (2) is detected without detecting the closed signal of the first sensor (3), it is judged that the standby abnormality occurs; In the standby abnormality, the driving mechanism (2) drives the lock rod (1) to the ejection position. 7.The door driving control method of an electric appliance according to claim 6, characterized in that: The method comprises the following steps: S10, initialization; S20, obtaining the opening door instruction signal / the sensing signal of the first sensor (3) / the sensing signal of the second sensor; S30, obtaining the current position information of the lock rod (1); S40, judging whether the function work signal of locking the door body is obtained, if yes, executing S50; otherwise, ending; S50, driving the lock rod (1) to the locked position based on the current position of the lock rod (1), and then realizing the locking work of the door body; S60, judging whether the door body locking abnormality occurs during the driving work of the door body; If yes, using the automatic processing work method of the locking abnormality to process; if no, executing S70; S70, completing the locking of the door body, and then controlling the electrical appliance to perform the corresponding function work. 8.The door driving control method of an electric appliance according to claim 7, characterized in that: When the electrical appliance is powered on, the initialization work in S10 is performed; The initialization work comprises: SS1, if the sensing signal of the first sensor (3) is a closed signal, executing SS2; If the sensing signal of the first sensor (3) is an open signal, and the sensing signal of the second sensor is a closed signal, executing SS3; if the sensing signal of the first sensor (3) is an open signal, and the sensing signal of the second sensor is an open signal, executing SS4; SS2, if the sensing signal of the second sensor is a closed signal, the position of the lock rod (1) is initialized as a locked position, the current position of the lock rod (1) is maintained, and a door body locked abnormality flag is set for subsequent automatic processing of the locked abnormality; then SS6 is executed; if the sensing signal of the second sensor is an open signal, the control mechanism (2) is controlled to drive the lock rod (1) to move forward for a time m; the number of times that the first sensor (3) jumps to a closed signal is cleared, and the position of the lock rod (1) is initialized as a standby position; then SS6 is executed; SS3, the control mechanism (2) is controlled to drive the lock rod (1) to move forward until the locked position of the lock rod (1) is detected or the time reaches a set time T0, and then the position of the lock rod (1) is initialized as an ejection position, and the number of times that the first sensor (3) jumps to a closed signal is cleared; then SS6 is executed; in the process of pushing the lock rod (1) forward, if the sensing signal of the second sensor jumps to an open signal, the control mechanism (2) is controlled to stop working, and SS4 is executed; SS4, the control mechanism (2) is controlled to drive the lock rod (1) to move backward; if the sensing signal of the first sensor (3) is detected to jump from an open signal to a closed signal, the control mechanism (2) is controlled to stop working, and the position of the lock rod (1) is initialized as a standby position; then SS6 is executed; if the locked position of the lock rod (1) is detected, the control mechanism (2) is controlled to stop working, and SS5 is executed; if the time that the control mechanism (2) drives the lock rod (1) to move reaches the set time T0, the control mechanism (2) is controlled to stop working, the position of the lock rod (1) is initialized as a standby position, and a door body standby abnormality flag is set for subsequent automatic processing of the standby abnormality; then SS6 is executed; SS5, if the sensing signal of the first sensor (3) also jumps from an open signal to a closed signal, the control mechanism (2) is controlled to drive the lock rod (1) to move forward for a time m, and the position of the lock rod (1) is initialized as a standby position, and the number of times that the first sensor (3) jumps to a closed signal is cleared; then SS6 is executed; if the sensing signal of the first sensor (3) remains an open signal, the position of the lock rod (1) is initialized as a standby position, and a door body standby abnormality flag is set for subsequent automatic processing of the standby abnormality; then SS6 is executed; SS6, the initialization of the position of the lock rod (1) is completed. 9.The door driving control method of an electric appliance according to claim 7, characterized by: In step S30, if the position of the lock rod (1) is obtained as an ejection position, S100 is executed; S100, if no door opening instruction signal is obtained, the current state is maintained, and step S30 is ended; if a door opening signal instruction is obtained, S101 is executed; S101, the control mechanism (2) is controlled to drive the lock rod (1) forward until any of the following conditions occurs; condition A1: if the locked position of the lock rod (1) is detected, the control mechanism (2) is controlled to stop working, the push rod stops after running to the locked position, the position of the lock rod (1) is maintained as the ejection position, the number of times that the first sensor (3) jumps to a closed signal is cleared, and step S30 is ended; Case A2: If the time of driving the lock lever (1) by the driving mechanism (2) reaches the set time T0, the driving mechanism (2) is controlled to stop working, the position of the lock lever (1) is set to keep the ejection position, the number of times of the first sensor (3) jumping to the closed signal is cleared, and the step S30 is ended; Case A3: If the sensing signal of the second sensor jumps to the open signal during the forward driving of the lock lever (1), the driving mechanism (2) is controlled to stop working, and then the step S102 is executed; S102, the driving mechanism (2) is controlled to drive the lock lever (1) to move backward; If the sensing signal of the first sensor (3) jumps from the open signal to the closed signal during the backward movement of the lock lever (1), the driving mechanism (2) is controlled to stop working, and the position of the lock lever (1) is updated to the standby position, and the standby abnormality flag is cleared, and the step S30 is ended; If the locked-rotor current of the driving mechanism (2) is detected during the backward movement of the lock lever (1), the step S103 is executed; If the sensing signal of the second sensor jumps to the closed signal during the backward movement of the lock lever (1), the driving mechanism (2) is controlled to stop working, and then the step S104 is executed; S103, case B1: If the sensing signal of the first sensor (3) is the closed signal, the driving mechanism (2) is controlled to drive the lock lever (1) to move forward for m time, the position of the lock lever (1) is updated to the standby position, the standby abnormality flag is cleared, and the number of times of the first sensor (3) jumping to the closed signal is cleared, and the step S30 is ended; Case B2: If the sensing signal of the first sensor (3) is the open signal, the position of the lock lever (1) is updated to the standby position, and the standby abnormality flag is set, and the step S30 is ended; Case B3: If the time of driving the lock lever (1) by the driving mechanism (2) reaches the set time T0, the driving mechanism (2) is controlled to stop working, the position of the lock lever (1) is updated to the standby position, and the standby abnormality flag is set, and the step S30 is ended; S104, the driving mechanism (2) is controlled to drive the lock lever (1) to move forward, and different operations are performed for cases C1, C2 and C3 during the forward movement of the lock lever (1); Case C1: If the locked-rotor current of the driving mechanism (2) is detected, the driving mechanism (2) is controlled to stop working, the position of the lock lever (1) is set to keep the ejection position, and the number of times of the first sensor (3) jumping to the closed signal is cleared, and the step S30 is ended; Case C2: If the time of driving the lock lever (1) by the driving mechanism (2) reaches the set time T0, the driving mechanism (2) is controlled to stop working, the position of the lock lever (1) is set to keep the ejection position, and the number of times of the first sensor (3) jumping to the closed signal is cleared, and the step S30 is ended; Case C3: If the sensing signal of the second sensor jumps to the open signal during the forward movement of the lock lever (1), the driving mechanism (2) is controlled to stop working, and then the step S102 is executed. 10.The door driving control method of an electric appliance according to claim 9, characterized in that: In the step S30, if the position of the lock lever (1) is obtained as the locked position, the step S200 is executed; S200, if the sensing signal of the second sensor is a closed signal and no open door signal is obtained, the current state is maintained, and step S30 is ended; S201 is executed if the sensing signal of the second sensor is a closed signal and an open door signal is obtained; S202 is executed if the sensing signal of the second sensor is an open signal; S201, the driving mechanism (2) is controlled to drive the lock rod (1) to move forward until any of the following conditions occurs; Condition D1: if the locked-rotor current of the driving mechanism (2) is detected, the driving mechanism (2) is controlled to stop working; If the time for the driving mechanism (2) to drive the lock rod (1) to move is less than or equal to the minimum running time Tmin, the position of the lock rod (1) is updated to the standby position, and S102 is executed; If the time for the driving mechanism (2) to drive the lock rod (1) to move is within the normal time interval, the position of the lock rod (1) is updated to the ejection position, and S101 is executed; Condition D2: if the time for the driving mechanism (2) to drive the lock rod (1) to move reaches the set time T0, the driving mechanism (2) is controlled to stop working, the position of the lock rod (1) is updated to the ejection position, the number of times that the first sensor (3) jumps to the closed signal is cleared, and step S30 is ended; Condition D3: if the sensing signal of the second sensor jumps to the open signal during the movement of the lock rod (1) in the forward direction, the driving mechanism (2) is controlled to stop working; If the time for the driving mechanism (2) to drive the lock rod (1) to move is less than or equal to the minimum running time Tmin, the position of the lock rod (1) is updated to the standby position, and the standby abnormality flag is cleared, and step S30 is ended; If the time for the driving mechanism (2) to drive the lock rod (1) to move is greater than the minimum running time Tmin, the position of the lock rod (1) is updated to the ejection position, and S102 is executed; S202, the driving mechanism (2) is controlled to move the lock rod (1) forward for a time m, then the position of the lock rod (1) is updated to the standby position, the standby abnormality flag is cleared, the number of times that the first sensor (3) jumps to the closed signal is cleared, and step S30 is ended. 11.The door driving control method of an electric appliance according to claim 9, characterized in that: In step S30, if the position of the lock rod (1) is obtained as the standby position, S300 is executed; S300, if the sensing signal of the second sensor is an open signal, the current state is maintained, and step S30 is ended; S301 is executed if the sensing signal of the second sensor is a closed signal; S301, if there is no standby abnormality flag, the driving mechanism (2) is controlled to drive the lock rod (1) to move backward, and then S302 is executed; if there is a standby abnormality flag, the driving mechanism (2) is controlled to drive the lock rod (1) to move forward, and then S303 is executed; S302, during the movement of the lock rod (1) in the backward direction; If the locked-rotor current of the driving mechanism (2) is detected, the driving mechanism (2) is controlled to stop working, and then S3021 is executed; If the time for the lock rod (1) to move backward reaches the set time T0, the driving mechanism (2) is controlled to stop working, and then S3022 is executed; If the sensing signal of the second sensor jumps to the open signal, the control drives the driving mechanism (2) to stop working, and then S3023 is executed; S3021, if the sensing signal of the current first sensor (3) is the open signal, or the sensing signal of the current first sensor (3) jumps to the closed signal less than 2 times, the position of the lock rod (1) is updated to the locked position, and a lock abnormality flag is set, and the step S30 is ended; If the sensing signal of the current first sensor (3) is the closed signal, and the sensing signal of the current first sensor (3) jumps to the closed signal more than or equal to 2 times, the position of the lock rod (1) is updated to the locked position, and the lock abnormality flag is cleared, and the step S30 is ended; S3022, the lock rod (1) is updated to the locked position, and the lock abnormality flag is set, and the step S30 is ended; S3023, the position of the lock rod (1) is updated to the standby position, and the step S30 is ended; S303, if the locked-rotor current of the driving mechanism (2) is detected, the driving mechanism (2) is controlled to stop working, the position of the lock rod (1) is updated to the ejection position, and the number of times that the first sensor (3) jumps to the closed signal is cleared, and the step S30 is ended; If the time for driving the lock rod (1) to move reaches the set time T0, the driving mechanism (2) is controlled to stop working, the position of the lock rod (1) is updated to the ejection position, and the number of times that the first sensor (3) jumps to the closed signal is cleared, and the step S30 is ended; If the sensing signal of the second sensor jumps to the open signal during the driving of the lock rod (1) to move forward, the driving mechanism (2) is controlled to stop working, the position of the lock rod (1) is updated to the ejection position, and then S102 is executed.

12. The door driving control method of an electric appliance according to any one of claims 1 to 3, characterized by: The first sensor (3) and the second sensor are both micro switches.

13. The door driving control method of an electric appliance according to any one of claims 1 to 3, characterized by: The driving mechanism (2) comprises a motor, a driving gear set in transmission connection with a driving end of the motor, and a rack portion in the moving direction of the lock rod (1) and in mesh with the driving gear set.

14. An electric appliance comprising a main body and a door body which can be matched and opened and closed; a lock rod (1) is arranged in the main body, a driving mechanism (2) for driving the lock rod (1) to move, and a first inductor (3) are arranged in the main body; a lock body (4) which can be matched and buckled with the lock rod (1) is arranged on the door body; characterized in that: The lock rod (1) is provided with a first trigger portion (11) corresponding to the standby position and capable of triggering the first sensor (3), and a second trigger portion (12) corresponding to the door closing position and capable of triggering the first sensor (3); and the door body is further provided with a second sensor for detecting the buckling state between the lock rod (1) and the lock body (4). The processor is in signal connection with the driving mechanism (2), the first sensor (3) and the second sensor, and the memory stores a computer program for running on the processor, and the processor executes the computer program to realize the door body driving control method of the electric appliance in any one of claims 1 to 13.

15. A cleaning machine comprising a main body and a door body which can be matched and opened and closed; a lock rod (1) is arranged in the main body, a driving mechanism (2) for driving the lock rod (1) to move, and a first sensor (3) are arranged in the main body; a lock body (4) which can be matched and buckled with the lock rod (1) is arranged on the door body; characterized in that: The lock rod (1) is provided with a first trigger portion (11) corresponding to the standby position and capable of triggering the first sensor (3), and a second trigger portion (12) corresponding to the door closing position and capable of triggering the first sensor (3); and the door body is further provided with a second sensor for detecting the buckling state between the lock rod (1) and the lock body (4). The application further comprises a processor and a memory, the processor is connected with the driving mechanism (2), the first sensor (3) and the second sensor by electric signals, the memory stores a computer program for running on the processor, and the processor executes the computer program to realize the door body driving control method of the electric appliance in any one of claims 1 to 13.

16. An electronic device comprising a memory, a processor, said memory having stored therein a computer program for running on the processor, characterized in that, The processor executes the computer program to realize the door body driving control method of the electric appliance in any one of claims 1 to 13.

17. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the door body driving control method of the electric appliance in any one of claims 1 to 13.

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