Refrigerator, refrigerator door opening method, device, and storage medium

Abstract

This application provides embodiments related to refrigerator technology, offering a refrigerator, a refrigerator door opening and closing method, apparatus, and storage medium. The refrigerator includes a door body, a door drive device, and a control device. The door drive device includes an angle detection module and a door drive module. The door drive device is mounted on the door body. The control device is connected to the angle detection module and the door drive module. The control device is configured to: respond to a command for controlling the door to open or close, control the door body to rotate via the door drive module, and obtain rotation parameter values ​​of the door body via the angle detection module; the rotation parameter values ​​of the door body characterize the rotation angle of the door body; if the rotation parameter values ​​of the door body are not within the target rotation parameter value range, it is determined that the door body rotation has encountered an obstacle; and the door body is controlled to stop rotating via the door drive module. This application improves the safety of the refrigerator's automatic door opening and closing process and enhances the user experience.

Description

Technical Field

[0001] This application relates to refrigerator technology. More specifically, it relates to a refrigerator, a method for opening and closing the refrigerator door, an apparatus, and a storage medium. Background Technology

[0002] With the development of technology, users have increasingly higher demands for the intelligence and ease of operation of smart home appliances and other devices. Taking smart refrigerators as an example, currently, smart refrigerators can respond to users' commands to open and close the refrigerator door automatically. However, during the automatic opening and closing process, the refrigerator door may encounter obstacles or be blocked by the user. If the automatic opening and closing operation continues, it will cause damage to the refrigerator door and other components, and the user experience will be poor. Summary of the Invention

[0003] Exemplary embodiments of this application provide a refrigerator, a refrigerator door opening and closing method, an apparatus, and a storage medium, which can avoid obstacles during the automatic opening and closing of the refrigerator door, thereby improving the user experience.

[0004] In a first aspect, this application provides a refrigerator, the refrigerator including a door body, a door body drive device, and a control device, the door body drive device including: an angle detection module and a door body drive module; the door body drive device is mounted on the door body, the control device is connected to the angle detection module and the door body drive module, and the control device is configured to:

[0005] In response to a command to control the door to open or close, the door drive module controls the door to rotate, and the angle detection module obtains the rotation parameter values ​​of the door; the rotation parameter values ​​of the door are used to characterize the rotation angle of the door.

[0006] If the rotation parameter value of the door is not within the range of the target rotation parameter value, it is determined that the door has encountered an obstacle during rotation.

[0007] The door is controlled to stop rotating via the door drive module.

[0008] In some embodiments, the angle detection module includes an angle detection unit, the angle detection unit including a first rotating component, and the door drive module including a second rotating component; the angle detection unit is connected to the second rotating component of the door drive module via the first rotating component; when the control device controls the door to rotate via the door drive module, the second rotating component rotates, and the second rotating component drives the first rotating component to rotate; the control device is configured to:

[0009] The rotation parameter values ​​of the door are obtained through the angle detection unit; if the rotation angle of the first rotating component is different, the rotation parameter values ​​obtained by the angle detection unit will be different.

[0010] In some embodiments, the rotation parameter value is voltage, and the control device is configured to:

[0011] The voltage across the angle detection unit is obtained, and the rotation parameter value of the door is determined based on the voltage; the voltage across the angle detection unit is positively correlated with the rotation angle of the door.

[0012] In some embodiments, the angle detection unit is a potentiometer, which also forms a series circuit with the target resistor and the target power supply.

[0013] In some embodiments, the door drive module includes: a motor, and a clutch, wherein the control device is configured to:

[0014] If the rotation parameter value of the door is not within the target rotation parameter value range, then the motor is de-energized and the clutch is de-energized.

[0015] In some embodiments, the control device is further configured to:

[0016] Obtain the range of modified rotation parameter values;

[0017] The target rotation parameter value range is updated using the modified rotation parameter value range.

[0018] In some embodiments, the control device is configured to:

[0019] The angle detection module obtains the first rotation parameter value of the door when it is fully closed, and the second rotation parameter value of the door when it is fully open.

[0020] The modified rotation parameter value range is obtained based on the first rotation parameter value and the second rotation parameter value.

[0021] Secondly, this application provides a method for opening and closing a refrigerator door. The refrigerator includes a door body, a door body drive device, and a control device. The door body drive device includes an angle detection module and a door body drive module. The door body drive device is installed on the door body. The control device is connected to the angle detection module and the door body drive module. The method is applied to the control device. The method includes:

[0022] In response to a command to control the door to open or close, the door drive module controls the door to rotate, and the angle detection module obtains the rotation parameter values ​​of the door; the rotation parameter values ​​of the door are used to characterize the rotation angle of the door.

[0023] If the rotation parameter value of the door is not within the range of the target rotation parameter value, it is determined that the door has encountered an obstacle during rotation.

[0024] The door is controlled to stop rotating via the door drive module.

[0025] Thirdly, this application provides a refrigerator door opening and closing device, the refrigerator including a door body, a door body driving device, and a control device, the door body driving device including: an angle detection module and a door body driving module; the door body driving device is installed on the door body, the control device is connected to the angle detection module and the door body driving module, the device is applied to the control device, and the device includes:

[0026] The first control module is used to respond to commands for controlling the door to open or close, and controls the door to rotate through the door drive module;

[0027] The acquisition module is used to acquire the rotation parameter values ​​of the door body through the angle detection module; the rotation parameter values ​​of the door body are used to characterize the rotation angle of the door body;

[0028] The processing module is used to determine that the door is encountering an obstacle when the rotation parameter value of the door is not within the range of the target rotation parameter value;

[0029] The second control module is used to control the door to stop rotating through the door drive module.

[0030] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the method described in the second aspect.

[0031] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the second aspect.

[0032] The refrigerator, refrigerator door opening and closing method, device, and storage medium provided in this application include a control device that responds to commands to open or close the door. Through a door drive module, the control device controls the door to rotate, achieving automatic door opening and closing. During this process, the control device can obtain door rotation parameter values, which characterize the door's rotation angle, through an angle detection module. Then, using these rotation parameter values, the control device can determine if the door has encountered an obstacle when the rotation parameter value is outside the target range, and control the door to stop rotating through the door drive module. By using this method, in the process of automatically opening and closing the refrigerator door, the control device determines whether the door has encountered an obstacle by using the door rotation parameter values, and stops rotating when an obstacle is encountered. This achieves automatic stopping of the refrigerator door when encountering an obstacle, improving the safety of refrigerator use, preventing damage to the refrigerator, and enhancing the user experience. Attached Figure Description

[0033] To more clearly illustrate the implementation methods in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0034] Figure 1 This is a schematic diagram of the structure of an existing refrigerator;

[0035] Figure 2 This application provides a schematic diagram of the structure of a refrigerator;

[0036] Figure 3 A flowchart illustrating a refrigerator door opening and closing method provided in this application;

[0037] Figure 4a A schematic diagram illustrating a connection method between a first rotating component and a second rotating component provided in this application;

[0038] Figure 4b A schematic diagram of the structure of a potentiometer provided in this application;

[0039] Figure 4c This application provides a schematic diagram of the internal structure of a potentiometer.

[0040] Figure 5 A schematic diagram of a series circuit provided in this application;

[0041] Figure 6 A flowchart illustrating another method for opening and closing a refrigerator door provided in this application;

[0042] Figure 7An external view of an actuator provided in this application;

[0043] Figure 8 An exploded view of an actuator provided in this application;

[0044] Figure 9 This is a schematic diagram of a refrigerator door opening and closing device provided in an embodiment of this application. Detailed Implementation

[0045] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only some embodiments of this application, and not all embodiments.

[0046] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0047] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those that are explicitly listed, but may include other components that are not explicitly listed or that are inherent to such product or device.

[0048] With the development of technology, users have increasingly higher demands for the intelligence and ease of operation of smart home appliances and other devices. Taking smart refrigerators as an example, currently, smart refrigerators can respond to user commands to open and close the refrigerator door automatically. For example, Figure 1 This is a schematic diagram of the structure of an existing refrigerator. Figure 1 As shown, the refrigerator may include: a cabinet, an actuator, and a door. The refrigerator's control device ( Figure 1 (Not shown) can respond to user-triggered door opening / closing commands and control the refrigerator door to open and close automatically via the aforementioned actuator.

[0049] However, during the automatic opening and closing of the refrigerator door, the door may encounter obstacles or be blocked by the user. If the automatic opening and closing operation continues, the refrigerator door and other components (such as the aforementioned actuator) of the smart refrigerator will be damaged, and the user experience will be poor.

[0050] In view of the aforementioned problems with existing refrigerators, this application proposes a method to control the refrigerator door to automatically avoid obstacles during the automatic opening and closing process, so as to improve the safety of refrigerator use and enhance the user experience.

[0051] The technical solutions of this application will be described in detail below with reference to specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0052] first, Figure 2 This is a structural schematic diagram of a refrigerator provided in this application. Figure 2 As shown, the refrigerator may include a door, a door drive mechanism, and a control device. The door drive mechanism may include an angle detection module and a door drive module. The door drive mechanism can be mounted on the door. The control device can be connected to the angle detection module and the door drive module.

[0053] Optionally, each door of the refrigerator may correspond to one of the aforementioned door drive devices. Alternatively, the refrigerator may have only refrigerator compartment doors, or only freezer compartment doors may have the aforementioned door drive devices.

[0054] It should be understood that the installation position and method of the aforementioned door drive device on the door can refer to any existing refrigerator with a door drive device and a door, for example, refer to... Figure 1 The actuator is shown in its position on the door. It should be understood that this application does not limit whether the refrigerator includes other devices. Furthermore, this application does not limit other functions of the refrigerator, such as refrigeration and freezing functions.

[0055] Based on the above refrigerators Figure 3 This is a flowchart illustrating a refrigerator door opening and closing method provided in this application. The executing entity of this refrigerator door opening and closing method can be, for example, the aforementioned control device. Figure 3 As shown, the method may include the following steps:

[0056] S101. Responding to commands for controlling the opening or closing of the door, the door is rotated via the door drive module.

[0057] For example, the control device can respond to the above-mentioned instructions triggered by the user through any existing interaction method such as "voice control, button control, etc." and execute the operation of controlling the rotation of the door through the door drive module.

[0058] Optionally, the control device can control the door rotation through the door drive module, and can refer to any existing method for controlling the automatic opening and closing of a refrigerator door, which will not be described in detail here.

[0059] S102. Obtain the rotation parameter values ​​of the door through the angle detection module.

[0060] The rotation parameter values ​​of the aforementioned door can be used to characterize the rotation angle of the door. For example, these rotation parameter values ​​can be voltage, current, resistance, pressure, etc. Optionally, the magnitude of the aforementioned rotation parameter values ​​can be positively correlated with the rotation angle of the door, or negatively correlated with it. Taking voltage as an example, a larger voltage value obtained by the control device indicates a larger rotation angle of the door, while a smaller voltage value indicates a smaller rotation angle of the door.

[0061] S103. If the rotation parameter value of the door is not within the range of the target rotation parameter value, then it is determined that the door has encountered an obstacle during rotation.

[0062] Optionally, if the rotation parameter value of the door is within the target rotation parameter value range, the control device can determine that the door rotation has not encountered an obstacle. Then, the control device can, for example, continue to control the door rotation through the door drive module, and continue to execute steps S102 and S103 until it is determined that the door opening and closing is complete (or the door closing is complete).

[0063] Optionally, the aforementioned range of rotation parameter values ​​can be, for example, an interval of rotation parameter values, or a single rotation parameter value. Taking a range of rotation parameter values ​​as a single rotation parameter value as an example, the control device can determine that the door has encountered an obstacle when its rotation parameter value is not equal to the target rotation parameter value. If the door's rotation parameter value is equal to the target rotation parameter value, then it is determined that the door has not encountered an obstacle.

[0064] Optionally, when the control device controls the door to rotate via the aforementioned door drive module, the target rotation parameter value range corresponding to different rotation angles can be different. Taking a preset door rotation speed as an example, if there are no obstacles, the rotation angle at any given moment after the door begins to rotate is fixed. The control device can, for example, determine the target rotation parameter value range corresponding to the door's rotation parameter value based on a preset mapping relationship between time and rotation parameter value range. For example, taking a rotation parameter value range as a single rotation parameter value, the mapping relationship between the aforementioned time and rotation parameter value range can be shown in Table 1 below:

[0065] Table 1

[0066] Time 1 Rotation parameter value 1 Time 2 Rotation parameter value 2 Time 3 Rotation parameter value 3 … …

[0067] Assuming the current time is time 2, the control device can determine that the target rotation parameter value range is rotation parameter value 2. Therefore, the control device can determine that the door has encountered an obstacle when the rotation parameter value is not equal to rotation parameter value 2. If the rotation parameter value is equal to rotation parameter value 2, it can be determined that the door has not encountered an obstacle.

[0068] For example, taking a rotation parameter value range as an interval, the mapping relationship between the above time points and the rotation parameter value range can be shown in Table 2 below:

[0069] Table 2

[0070] Time 1 Rotation parameter value range 1 Time 2 Rotation parameter value range 2 Time 3 Rotation parameter value range 3 … …

[0071] Assuming the current time is time 2, the control device can determine that the target rotation parameter value range is rotation parameter value interval 2. Therefore, the control device can determine that the door has encountered an obstacle when its rotation parameter value is not within this interval 2. If the rotation parameter value is within this interval 2, it can be determined that the door has not encountered an obstacle.

[0072] It should be understood that this application does not limit the type of obstacle described above. For example, the obstacle may be a user blocking it.

[0073] S104. Control the door to stop rotating through the door drive module.

[0074] Optionally, the control device can stop the door from rotating by controlling the door drive module. This can be achieved by referring to any existing automatic door control method, which will not be elaborated here.

[0075] When the door encounters an obstacle during rotation, the door is stopped from rotating, preventing it from colliding with the obstacle, thus avoiding damage to the refrigerator and improving the user experience.

[0076] In this embodiment, the control device can respond to commands to open or close the door. Through the door drive module, it controls the door to rotate, achieving automatic opening and closing. During this process, the control device can obtain the door rotation parameter value, which characterizes the door's rotation angle, through the angle detection module. Then, using this rotation parameter value, the control device can determine if the door has encountered an obstacle when the rotation parameter value is outside the target range, and control the door to stop rotating through the door drive module. By using this method, in the process of automatically opening and closing the refrigerator door, the rotation parameter value is used to determine whether the door has encountered an obstacle, and rotation stops when an obstacle is encountered. This achieves automatic stopping of the refrigerator door when encountering an obstacle, improving the safety of refrigerator use, preventing damage to the refrigerator, and enhancing the user experience.

[0077] The structure of the angle detection module described above is illustrated below:

[0078] In one possible implementation, the angle detection module may include an angle detection unit. This angle detection unit may include a first rotating component. The door drive module may include a second rotating component. The angle detection unit can be connected to the second rotating component of the door drive module via the first rotating component. In this implementation, when the control device controls the door to rotate via the door drive module, the second rotating component of the door drive module rotates, and this second rotating component can drive the first rotating component to rotate.

[0079] In this implementation, the control device can obtain the rotation parameter values ​​of the door through the aforementioned angle detection unit. Specifically, the rotation parameter values ​​obtained by the angle detection unit will differ depending on the rotation angle of the first rotating component.

[0080] For example, the second rotating component described above can be, for instance, a gear shaft component of the door drive module. For example, taking the angle detection unit as a potentiometer, the first rotating component can be, for instance, a rotating part of the potentiometer. The resistance value of the potentiometer varies when the rotating component rotates to different positions. For example, taking the angle detection unit as a potentiometer, for instance... Figure 4a This is a schematic diagram illustrating a connection method between a first rotating component and a second rotating component, as provided in this application. Figure 4a As shown, the second rotating component can be a gear shaft, and the protruding part of the gear shaft is connected to the first rotating component (potentiometer rotating part) of the potentiometer. The potentiometer fixing part is the non-rotatable part of the potentiometer. A circuit board can be located below the potentiometer fixing part.

[0081] In this embodiment, the angle detection unit is connected to the second rotating component of the door drive module through the first rotating component, so that when the door rotates, the second rotating component of the door drive module can drive the first rotating component to rotate. This allows the control device to detect different rotation parameter values ​​by rotating the first rotating component to different positions, thereby obtaining the rotation parameter value of the door "used to characterize the rotation angle of the door". This lays the foundation for determining whether the door rotation has encountered an obstacle based on the rotation parameter value of the door.

[0082] Taking the aforementioned rotation parameter value as voltage as an example, optionally, the control device can acquire the voltage across the angle detection unit and determine the rotation parameter value of the door based on this voltage. The voltage across the angle detection unit can be positively correlated with the rotation angle of the door. That is, the larger the rotation angle of the door, the larger the voltage across the angle detection unit. The smaller the rotation angle of the door, the smaller the voltage across the angle detection unit. Optionally, the specific implementation method for the control device to acquire the voltage across the angle detection unit can refer to any existing voltage detection method, which will not be elaborated here.

[0083] For example, the control device can directly use the voltage as the rotation parameter value of the door. Alternatively, the control device can amplify the voltage and use the amplified voltage as the rotation parameter value of the door, thereby improving the accuracy of determining the rotation parameter value of the door when the voltage is low.

[0084] Using the above method, the rotation parameter value of the door can be determined based on the voltage at both ends of the angle detection unit, thus realizing the acquisition of the rotation parameter value of the door "used to characterize the rotation angle of the door", laying the foundation for judging whether the door rotation encounters an obstacle based on the rotation parameter value of the door.

[0085] Taking the angle detection unit as a potentiometer as an example, optionally, the potentiometer can also form a series circuit with the target resistor and the target power supply. For example, Figure 4b This is a schematic diagram of a potentiometer provided in this application. Figure 4c This is a schematic diagram of the internal structure of a potentiometer provided in this application. Figure 4b and Figure 4c As shown, the potentiometer may include: contact 1, contact 2, and contact 3, and an inner core. The internal structure may include a rotating contact and a carbon film body. The center hole of the potentiometer may be a non-circular hole, such as... Figure 4a The gear shaft shown in the diagram can be inserted into this hole. The gear shaft may have a protrusion, and when the gear shaft rotates, it can drive the rotating part of the potentiometer to rotate.

[0086] It should be understood that this application does not limit the resistance value of the target resistor or the voltage of the target power supply. For example, Figure 5 This is a schematic diagram of a series circuit provided in this application. Figure 5 Taking the series circuit shown as an example, assuming the target resistor has a resistance of 2000 ohms (Ω), the target power supply voltage is 12V, the potentiometer's finite resistance range is 1000Ω to 4000Ω, and the potentiometer's resistance changes by 25Ω for every 1 degree the door rotates. Typically, a change within 5 degrees is sufficient for general needs. For example, the control device can take the door's rotation parameter value every 4 degrees of rotation, meaning the potentiometer's resistance changes by 100Ω each time. At the nth time (the nth moment after the door begins to rotate), the voltage difference across the potentiometer ΔV = 12*(1000+(n-1)*100) / (2000+1000+(n-1)*100), as shown in Table 3 below:

[0087] Table 3

[0088]

[0089]

[0090] In some embodiments, the control device can acquire the voltage across the target resistor and determine the rotation parameter values ​​of the door based on the voltage. The voltage across the target resistor may be negatively correlated with the rotation angle of the door.

[0091] The above-mentioned door drive module is illustrated below:

[0092] In one possible implementation, the door drive module may include a motor and a clutch. The control device can be connected to the motor and the clutch. In this implementation, the control device can de-energize the motor and the clutch when the door's rotation parameters are outside the target range. By de-energizing the motor and clutch, the door drive module stops driving the door to rotate, thus stopping the door from colliding with obstacles and improving the safety of the refrigerator and enhancing the user experience.

[0093] It should be understood that this application does not limit whether the aforementioned door drive module includes other components. Optionally, this application does not limit how the door drive module specifically controls the opening and closing of the refrigerator door via the aforementioned motor and clutch. For example, the refrigerator may also include a movable component. This movable component is provided with a connecting device and a first transmission component. The connecting device movably connects the movable component to the refrigerator body to close or open the opening of the refrigerator's storage compartment. The first transmission component is fixedly connected to the connecting device. The aforementioned door drive module can also be referred to as a door opening and closing drive device. This door opening and closing drive device is mounted on the refrigerator body or the movable component, and is composed of multiple components, one of which is the aforementioned clutch. The clutch can disengage or engage all or part of the multiple components with the first transmission component. When the clutch engages all or part of the multiple components with the first transmission component, the door opening and closing drive device can drive the movable component to automatically open or close via the connecting device. When the clutch disengages all or part of the multiple components from the first transmission component, the movable component can drive the connecting device to move, or drive some components of the connecting device and the door opening and closing drive device to move.

[0094] The aforementioned door opening and closing drive device may further include a drive component and a second transmission component. The drive component is drively connected to the second transmission component. The clutch includes a first half-clutch and a second half-clutch; the first half-clutch can disengage from or engage with the second transmission component, and the second half-clutch is drively connected to the first transmission component. The drive component may be the aforementioned motor.

[0095] As one possible implementation, the refrigerator can also update the aforementioned target rotation parameter value range to improve the accuracy of determining whether the door encounters an obstacle during rotation, thereby further enhancing the safety of the refrigerator. For example, the control device can first obtain the modified rotation parameter value range. Then, the control device can use the modified rotation parameter value range to update the aforementioned target rotation parameter value range.

[0096] In some embodiments, the control device may receive a range of modified rotation parameter values ​​input by a user through an application programming interface (API) or a graphical user interface (GUI).

[0097] In some embodiments, the control device may automatically update the target rotation parameter value range to obtain the updated target rotation parameter value range in a timely manner, further improving the accuracy of determining whether the door encounters an obstacle during rotation. For example, the control device can obtain the first rotation parameter value of the door when it is fully closed and the second rotation parameter value of the door when it is fully open through the angle detection module. Then, the control device can obtain the modified rotation parameter value range based on the first rotation parameter value and the second rotation parameter value.

[0098] For example, the fully closed state of the door can mean that the rotation angle between the door and the refrigerator body is 0 degrees. The fully open state of the door can mean, for example, the maximum angle that the door can be opened, such as the aforementioned 120 degrees, or 90 degrees, etc.

[0099] Optionally, the control device may, for example, respond to a user-triggered instruction to update the range of rotation parameter values, and execute the operation of "obtaining the first rotation parameter value of the door in the fully closed state through the aforementioned angle detection module". Alternatively, the control device may also automatically and periodically execute the aforementioned operation of "obtaining the first rotation parameter value of the door in the fully closed state through the aforementioned angle detection module". It should be understood that this application does not limit the period.

[0100] Optionally, the control device can use the aforementioned first rotation parameter value and second rotation parameter value as boundary values ​​for the rotation parameter values ​​during the rotation of the door. Then, the control device can divide the rotation parameter values ​​within these two boundary values ​​into multiple modified rotation parameter value ranges corresponding to different acquisition times. For example, taking the rotation parameter value as voltage and the rotation parameter value range as a voltage value, assuming the first rotation parameter value is 3.5V and the second rotation parameter value is 7.8V, referring to Table 3 above, the control device can divide the voltage value from 3.5V to 7.8V into 31 equal parts, as the modified rotation parameter value range corresponding to each acquisition time.

[0101] In this embodiment, by updating the target rotation parameter value range with the modified rotation parameter value range, the problem of reduced accuracy of the target rotation parameter value range due to changes in the door's automatic opening and closing speed or device malfunctions over time is avoided. By improving the accuracy of the target rotation parameter value range, the accuracy of determining whether the door encounters an obstacle during rotation is improved, thereby further enhancing the safety of the refrigerator.

[0102] For example, taking the above rotation parameter value as voltage, and the range of the above rotation parameter value as a voltage value, Figure 6A flowchart illustrating another method for opening and closing a refrigerator door provided in this application. Figure 6 As shown, during the automatic opening or closing of the refrigerator door, if the voltage value within a unit time (assuming the refrigerator takes 5 seconds to complete the automatic opening or closing, within a 4-degree range, the unit time should be approximately 4*5 / 120≈0.17 seconds; to reduce misjudgment, this unit time can be set to 0.2 seconds) does not reach the preset value, it can be determined that an obstruction has been encountered during the opening and closing process. For example, referring to Table 3 above, when the voltage across the potentiometer is 6V, if the automatic door opening action is currently being performed, the voltage should be around 6.15V after 0.17 seconds. If it does not reach 6.15V after 0.2 seconds, it indicates that the door is obstructed. The control device can then use the door drive module to stop the door from rotating, preventing injury to the user or damage to the door drive module.

[0103] like Figure 6 As shown, when the control device receives an automatic door opening signal, it can control the motor in the door drive module to rotate forward and energize the clutch. When the control device receives an automatic door closing signal, it can control the motor in the door drive module to rotate in reverse and energize the clutch. Furthermore, referring to Table 3 above, a voltage of 8V indicates that the door opening / closing is complete; a voltage of 4V indicates that the door closing is complete.

[0104] For example, taking the aforementioned door drive device as an actuator (the mechanism that enables the refrigerator door to open and close automatically), Figure 7 This application provides an external view of an actuator. The actuator includes, but is not limited to, a motor, gear set, and electromagnetic clutch. As mentioned above, the potentiometer can also be incorporated into the actuator. In this implementation, Figure 8 An exploded view of an actuator provided in this application. For example... Figure 8 As shown, the actuator may include a top cover, a chain, a DC motor, a gear set, a clutch, a base, a control board, a potentiometer, and a switch board. Optionally, how the actuator performs the opening and closing of the refrigerator door through the above structure can refer to any existing door drive device, which will not be described in detail here.

[0105] Using the above method, if the door encounters an obstruction during the automatic opening and closing of the refrigerator door, the control device can cut off the power to the motor and clutch, allowing the door to move freely and preventing injury to the user or damage to the door.

[0106] Figure 9 This is a schematic diagram of a refrigerator door opening and closing device provided in an embodiment of this application. This device can be used in any of the control devices described in the foregoing embodiments. Figure 9 As shown, the device may include: a first control module 21, an acquisition module 22, a processing module 23, and a second control module 24. Among them,

[0107] The first control module 21 is used to respond to commands for controlling the door to open or close, and to control the door to rotate through the door drive module.

[0108] The acquisition module 22 is used to acquire the rotation parameter values ​​of the door body through the angle detection module. The rotation parameter values ​​of the door body are used to characterize the rotation angle of the door body.

[0109] Processing module 23 is used to determine that the rotation of the door encounters an obstacle when the rotation parameter value of the door is not within the range of the target rotation parameter value.

[0110] The second control module 24 is used to control the door to stop rotating through the door drive module.

[0111] Optionally, the angle detection module includes an angle detection unit, which includes a first rotating component, and the door drive module includes a second rotating component. The angle detection unit is connected to the second rotating component of the door drive module via the first rotating component. When the control device controls the door to rotate via the door drive module, the second rotating component rotates, and the second rotating component drives the first rotating component to rotate. Optionally, the acquisition module 22 is specifically used to acquire the rotation parameter values ​​of the door via the angle detection unit. Wherein, different rotation angles of the first rotating component result in different rotation parameter values ​​acquired by the angle detection unit.

[0112] Taking the rotation parameter value as voltage as an example, optionally, the acquisition module 22 is specifically used to acquire the voltage across the angle detection unit and determine the rotation parameter value of the door based on the voltage. The voltage across the angle detection unit is positively correlated with the rotation angle of the door.

[0113] Optionally, the angle detection unit is a potentiometer, which also forms a series circuit with the target resistor and the target power supply.

[0114] Optionally, the door drive module includes a motor and a clutch. Optionally, the second control module 24 is specifically used to control the motor to be de-energized and the clutch to be de-energized when the rotation parameter value of the door is not within the target rotation parameter value range.

[0115] Optionally, the processing module 23 is further configured to obtain the modified rotation parameter value range; and use the modified rotation parameter value range to update the target rotation parameter value range.

[0116] Optionally, the processing module 23 is specifically used to obtain, through the angle detection module, a first rotation parameter value of the door when the door is fully closed, and a second rotation parameter value of the door when the door is fully open; and to obtain the modified rotation parameter value range based on the first rotation parameter value and the second rotation parameter value.

[0117] The refrigerator door opening and closing device provided in this application embodiment can execute the refrigerator door opening and closing method in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0118] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used in the methods described in the above embodiments.

[0119] This application also provides a program product including execution instructions stored in a readable storage medium. At least one control module of the refrigerator can read the execution instructions from the readable storage medium, and the execution instructions by the control module cause the refrigerator to perform the refrigerator door opening and closing methods provided in the various embodiments described above.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0121] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

Claims

1. A refrigerator characterized by comprising: The refrigerator includes a door, a door drive device, and a control device. The door drive device includes an angle detection module and a door drive module. The door drive device is mounted on the door. The control device is connected to the angle detection module and the door drive module. The control device is configured to: In response to a command to control the door to open or close, the door drive module controls the door to rotate, and the angle detection module obtains the rotation parameter values ​​of the door; the rotation parameter values ​​of the door are used to characterize the rotation angle of the door. If the rotation parameter value of the door is not within the range of the target rotation parameter value, it is determined that the door has encountered an obstacle during rotation. The door drive module controls the door to stop rotating. The control device is also configured to: The angle detection module obtains the first rotation parameter value of the door when it is fully closed, and the second rotation parameter value of the door when it is fully open. Based on the first rotation parameter value and the second rotation parameter value, the modified rotation parameter value range is obtained; The target rotation parameter value range is updated using the modified rotation parameter value range.

2. The refrigerator according to claim 1, characterized in that, The angle detection module includes an angle detection unit, which includes a first rotating component; the door drive module includes a second rotating component; the angle detection unit is connected to the second rotating component of the door drive module via the first rotating component; when the control device controls the door to rotate via the door drive module, the second rotating component rotates, and the second rotating component drives the first rotating component to rotate; the control device is configured to: The rotation parameter values ​​of the door are obtained through the angle detection unit; if the rotation angle of the first rotating component is different, the rotation parameter values ​​obtained by the angle detection unit will be different.

3. The refrigerator according to claim 2, characterized in that, The rotation parameter value is voltage, and the control device is configured as follows: The voltage across the angle detection unit is obtained, and the rotation parameter value of the door is determined based on the voltage; the voltage across the angle detection unit is positively correlated with the rotation angle of the door.

4. The refrigerator according to claim 3, characterized in that, The angle detection unit is a potentiometer, which also forms a series circuit with the target resistor and the target power supply.

5. The refrigerator according to any one of claims 1 to 4, characterized in that, The door drive module includes a motor and a clutch, and the control device is configured to: If the rotation parameter value of the door is not within the target rotation parameter value range, then the motor is de-energized and the clutch is de-energized.

6. A method of opening a door of a refrigerator, characterized by, The refrigerator includes a door, a door drive device, and a control device. The door drive device includes an angle detection module and a door drive module. The door drive device is mounted on the door. The control device is connected to the angle detection module and the door drive module. The method is applied to the control device. The method includes: In response to a command to control the door to open or close, the door drive module controls the door to rotate, and the angle detection module obtains the rotation parameter values ​​of the door; the rotation parameter values ​​of the door are used to characterize the rotation angle of the door. If the rotation parameter value of the door is not within the range of the target rotation parameter value, it is determined that the door has encountered an obstacle during rotation. The door drive module controls the door to stop rotating. The method includes: The angle detection module obtains the first rotation parameter value of the door when it is fully closed, and the second rotation parameter value of the door when it is fully open. Based on the first rotation parameter value and the second rotation parameter value, the modified rotation parameter value range is obtained; The target rotation parameter value range is updated using the modified rotation parameter value range.

7. A door opening and closing device of a refrigerator, characterized by comprising: The refrigerator includes a door, a door drive device, and a control device. The door drive device includes an angle detection module and a door drive module. The door drive device is mounted on the door. The control device is connected to the angle detection module and the door drive module. The device is applied to the control device. The device includes: The first control module is used to respond to commands for controlling the door to open or close, and controls the door to rotate through the door drive module; The acquisition module is used to acquire the rotation parameter values ​​of the door body through the angle detection module; the rotation parameter values ​​of the door body are used to characterize the rotation angle of the door body. The processing module is used to determine that the door is encountering an obstacle when the rotation parameter value of the door is not within the range of the target rotation parameter value; The second control module is used to control the door to stop rotating through the door drive module; The processing module is further configured to obtain, through the angle detection module, a first rotation parameter value of the door when the door is fully closed, and a second rotation parameter value of the door when the door is fully open; Based on the first rotation parameter value and the second rotation parameter value, the modified rotation parameter value range is obtained; The target rotation parameter value range is updated using the modified rotation parameter value range.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when executed by a processor, implement the method of claim 6.

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