Method and device for opening and closing door of refrigerator, refrigerator and computer readable storage medium

Abstract

The invention discloses a method for opening and closing a door of a refrigerator. A second motor; the first transmission mechanism is connected with the first motor; the second transmission mechanism is connected with the second motor; the first clutch is meshed with or opened from the first transmission mechanism and is used for transmitting the driving force of the first motor to the door body through the first transmission mechanism; the second clutch is meshed with or opened from the second transmission mechanism and is used for transmitting the driving force of the second motor to the door body through the second transmission mechanism; the angle sensor is connected with the door body driving gear through a connecting gear so as to realize door opening angle detection of the door body when the door body rotates; the method comprises the steps of determining a door opening angle of a door body; and according to the door opening angle of the door body, meshing or opening of the first clutch and the first transmission mechanism, meshing or opening of the second clutch and the second transmission mechanism and the operation states of the first motor and the second motor are controlled, so that the door body executes driving force corresponding to the door opening angle in the door opening and closing process.

Description

Technical Field

[0001] The present application relates to the technical field of smart home appliances, for example, to a method and device for opening and closing a refrigerator door, a refrigerator, and a computer-readable storage medium. Background Art

[0002] At present, the automatic door opening refrigerators on the market are often only equipped with a door opening device, but the door opening angle cannot be controlled while opening the door, and the automatic door closing or hovering function cannot be achieved after opening the door, which causes many inconveniences during use.

[0003] The related technology discloses a door opening motor assembly, an automatic door opening system and working method, and a refrigerator. The door opening motor assembly includes: a door opening motor, a front-stage gear set located at the end of the door opening motor, an output shaft for controlling the rotation of the door, a rear-stage gear set located at the end of the output shaft, and an electromagnetic clutch device. The electromagnetic clutch device is suitable for achieving transmission coordination between the front-stage gear set and the rear-stage gear set after power is supplied, that is, after power is supplied, the front and rear-stage gear sets are meshed with the clutch gear in the electromagnetic clutch device to transmit the torque of the door opening motor to the output shaft.

[0004] In the process of implementing the embodiments of the present disclosure, it is found that there are at least the following problems in the related art:

[0005] The motor driving force required by the refrigerator at different times when opening and closing the door is fixed, which cannot take into account both the reliability of the door opening and closing and the reduction of safety risks caused by collisions during the opening and closing process.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0008] The embodiments of the present disclosure provide a method and device for opening and closing a refrigerator door, a refrigerator, and a computer-readable storage medium, so as to balance the reliability of the door opening and closing and reduce the safety risks caused by collisions during the opening and closing process.

[0009] In some embodiments, the refrigerator includes: a first motor; a second motor; a first transmission mechanism connected to the first motor; a second transmission mechanism connected to the second motor; a first clutch engaged with or opened by the first transmission mechanism, for transmitting the driving force of the first motor to the door body through the first transmission mechanism; a second clutch engaged with or opened by the second transmission mechanism, for transmitting the driving force of the second motor to the door body through the second transmission mechanism; an angle sensor connected to the door body driving gear through a connecting gear to detect the opening angle of the door body when the door body rotates; the method includes: determining the opening angle of the door body; controlling the engagement or opening of the first clutch with the first transmission mechanism, the engagement or opening of the second clutch with the second transmission mechanism, and the operating states of the first motor and the second motor according to the opening angle of the door body, so that the door body executes a driving force corresponding to the opening angle during the door opening and closing process.

[0010] In some embodiments, the refrigerator includes: a first motor; a second motor; a first transmission mechanism connected to the first motor; a second transmission mechanism connected to the second motor; a first clutch engaged with or opened by the first transmission mechanism, for transmitting the driving force of the first motor to the door body through the first transmission mechanism; a second clutch engaged with or opened by the second transmission mechanism, for transmitting the driving force of the second motor to the door body through the second transmission mechanism; an angle sensor connected to the door body driving gear through a connecting gear to detect the opening angle of the door body when the door body rotates; the device includes: a determination module configured to determine the opening angle of the door body; a control module configured to control the engagement or opening of the first clutch with the first transmission mechanism, the engagement or opening of the second clutch with the second transmission mechanism, and the operating states of the first motor and the second motor according to the opening angle of the door body, so that the door body executes a driving force corresponding to the opening angle during the door opening and closing process.

[0011] In some embodiments, the device includes a processor and a memory storing program instructions, and the processor is configured to execute the method for opening and closing a refrigerator door when running the program instructions.

[0012] In some embodiments, the refrigerator includes: a refrigerator body, including: a first motor; a second motor; a first transmission mechanism, connected to the first motor; a second transmission mechanism, connected to the second motor; a first clutch, engaged with or opened by the first transmission mechanism, for transmitting the driving force of the first motor to the door body through the first transmission mechanism; a second clutch, engaged with or opened by the second transmission mechanism, for transmitting the driving force of the second motor to the door body through the second transmission mechanism; an angle sensor, connected to the door body drive gear through a connecting gear, so as to realize the door opening angle detection of the door body when the door body rotates; the device for opening and closing the refrigerator door is installed on the refrigerator body.

[0013] In some embodiments, the computer-readable storage medium stores program instructions, and when the program instructions are executed, the computer executes the method for opening and closing a refrigerator door.

[0014] The method and device for opening and closing a refrigerator door, the refrigerator, and the computer-readable storage medium provided in the embodiments of the present disclosure can achieve the following technical effects:

[0015] Due to factors such as the refrigerator's vertical beams, stops, and negative pressure, there is greater resistance at the beginning of opening the refrigerator door and at the end of closing the refrigerator door, requiring a greater driving force. When opening and closing the door at other positions, there is less resistance and less driving force required. In order to ensure the reliability of the refrigerator door opening and closing, a greater driving force is required, but this greater driving force cannot run through the entire process of opening and closing the door to avoid collisions during the process of opening and closing the door. According to the opening angle of the door body, the corresponding actions of the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first clutch, and the second clutch are controlled to execute the motor driving force corresponding to the opening angle. The motor driving force used by the refrigerator at different times of opening and closing the door is different and corresponds to the opening angle, taking into account both the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0016] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0018] Figure 1-1 is a schematic diagram of a refrigerator provided by an embodiment of the present disclosure, in which a first clutch is engaged with a first transmission mechanism and a second clutch is engaged with a second transmission mechanism;

[0019] Figure 1-2 is a schematic diagram of a refrigerator provided by an embodiment of the present disclosure, in which a first clutch and a first transmission mechanism are opened, and a second clutch and a second transmission mechanism are opened;

[0020] Figure 2 is a schematic diagram of the opening angle of a door of a refrigerator provided by an embodiment of the present disclosure;

[0021] Figure 3 is a schematic diagram of a method for opening and closing a refrigerator door provided by an embodiment of the present disclosure;

[0022] Figure 4 is a schematic diagram of another method for opening and closing a refrigerator door provided by an embodiment of the present disclosure;

[0023] Figure 5 is a schematic diagram of another method for opening and closing a refrigerator door provided by an embodiment of the present disclosure;

[0024] Figure 6 is a schematic diagram of a device for opening and closing a refrigerator door provided by an embodiment of the present disclosure;

[0025] Figure 7 is a schematic diagram of another device for opening and closing a refrigerator door provided by an embodiment of the present disclosure;

[0026] Figure 8 It is a schematic diagram of a refrigerator provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0028] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0029] Unless otherwise stated, the term "plurality" means two or more.

[0030] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0031] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0032] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0033] In the embodiments of the present disclosure, smart home appliances refer to home appliances that are formed by introducing microprocessors, sensor technology, and network communication technology into home appliances. They have the characteristics of intelligent control, intelligent perception, and intelligent application. The operation process of smart home appliances often relies on the application and processing of modern technologies such as the Internet of Things, the Internet, and electronic chips. For example, smart home appliances can be connected to electronic devices to enable users to remotely control and manage the smart home appliances.

[0034] In the disclosed embodiments, the terminal device refers to an electronic device with a wireless connection function. The terminal device can communicate with the above-mentioned smart home appliances by connecting to the Internet, or can directly communicate with the above-mentioned smart home appliances through Bluetooth, Wi-Fi, etc. In some embodiments, the terminal device is, for example, a mobile device, a computer, or a vehicle-mounted device built into a hover car, or any combination thereof. Mobile devices may include, for example, mobile phones, smart home devices, wearable devices, smart mobile devices, virtual reality devices, etc., or any combination thereof, wherein wearable devices include, for example: smart watches, smart bracelets, pedometers, etc.

[0035] Combination Figure 1-1 and Figure 1-2 As shown, an embodiment of the present disclosure provides a refrigerator, including: a first motor, a second motor, a first transmission mechanism 1, a second transmission mechanism 2, a first clutch 3, a second clutch 4 and an angle sensor. The first transmission mechanism 1 is connected to the first motor. The second transmission mechanism 2 is connected to the second motor. The first clutch 3 is engaged with or opened to the first transmission mechanism 1, and is used to transmit the driving force of the first motor to the door body through the first transmission mechanism 1. The second clutch 4 is engaged with or opened to the second transmission mechanism 2, and is used to transmit the driving force of the second motor to the door body through the second transmission mechanism 2. The angle sensor is connected to the door body drive gear through the connecting gear 5 to realize the door opening angle detection of the door body when the door body rotates.

[0036] Optionally, when the first clutch 3 is engaged with the first transmission mechanism 1, the second clutch 4 is engaged with the second transmission mechanism 2, and both the first motor and the second motor are running, the driving force executed by the door body during the door opening process is the first driving force. When the first clutch 3 is engaged with the first transmission mechanism 1, the second clutch 4 is opened with the second transmission mechanism 2, the first motor is running and the second motor is stopped, the driving force executed by the door body during the door opening process is the second driving force. When the first clutch 3 is opened with the first transmission mechanism 1, the second clutch 4 is opened with the second transmission mechanism 2, the first motor is stopped and the second motor is stopped, the driving force executed by the door body during the door opening process corresponding to the door opening angle is the third driving force. Among them, the first driving force is greater than the second driving force, and the second driving force is greater than the third driving force.

[0037] Optionally, the angle sensor includes: a resistive angle sensor. The resistive angle sensor is connected to the door driving gear via a connecting gear 5. When the door rotates, the connecting gear 5 is driven to rotate, and the resistance value of the resistive angle sensor changes, which is used to detect the door opening and closing angle in real time.

[0038] In the refrigerator provided by the embodiment of the present disclosure, when the first clutch 3 is engaged with the first transmission mechanism 1, the driving force of the first motor is transmitted to the door body through the first transmission mechanism 1. When the first clutch 3 is opened with the first transmission mechanism 1, the driving force of the first motor is not transmitted to the door body through the first transmission mechanism 1, and the driving force of the first motor is canceled. When the second clutch 4 is engaged with the second transmission mechanism 2, the driving force of the second motor is transmitted to the door body through the second transmission mechanism 2. When the second clutch 4 is opened with the second transmission mechanism 2, the driving force of the second motor is not transmitted to the door body through the second transmission mechanism 2, and the driving force of the second motor is canceled. The driving force of the motor. If the first motor, the second motor, the first transmission mechanism 1, the second transmission mechanism 2, the first clutch 3, and the second clutch 4 perform different actions, the size of the motor driving force executed by the door body is changed, providing a structural basis for executing the motor driving force corresponding to the door opening angle.

[0039] Combination Figure 3 As shown, the embodiment of the present disclosure provides a method for opening and closing a refrigerator door, comprising:

[0040] S301, the refrigerator determines the opening angle of the door.

[0041] S302, the refrigerator controls the engagement or opening of the first clutch and the first transmission mechanism, the engagement or opening of the second clutch and the second transmission mechanism, and the operating status of the first motor and the second motor according to the opening angle of the door body, so that the door body executes a driving force corresponding to the opening angle during the door opening and closing process.

[0042] Using the method for opening and closing the refrigerator door provided by the embodiment of the present disclosure, due to factors such as the refrigerator vertical beam, stopper, negative pressure, etc., the resistance is relatively large at the beginning of opening the refrigerator door and the end of closing the refrigerator door, and a relatively large driving force is required. When opening and closing the door at other positions, the resistance is relatively small, and the required driving force is relatively small. In order to ensure the reliability of opening and closing the refrigerator door, a relatively large driving force is required, but this relatively large driving force cannot run through the entire process of opening and closing the door to avoid collisions during the process of opening and closing the door. According to the opening angle of the door body, the corresponding actions of the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first clutch, and the second clutch are controlled to execute the motor driving force corresponding to the opening angle. The motor driving force used by the refrigerator at different times of opening and closing the door is different and corresponds to the opening angle, taking into account both the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0043] Optionally, the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operating states of the first motor and the second motor according to the door opening angle of the door body, so that the door body executes a driving force corresponding to the door opening angle during the door opening and closing process, including: the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operating states of the first motor and the second motor according to the door opening angle of the door body and the door opening and closing instruction, so that the door body executes a driving force corresponding to the door opening angle during the door opening and closing process. Wherein, the door opening and closing instruction includes a door opening instruction or a door closing instruction.

[0044] In this way, according to the door opening angle and the door opening and closing instructions, the corresponding actions of the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first clutch, and the second clutch are controlled to execute the motor driving force corresponding to the door opening angle. The motor driving force used by the refrigerator at different times of door opening and closing is different and corresponds to the door opening angle, taking into account the reliability of the door opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0045] Optionally, combined Figure 2 As shown, the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operating states of the first motor and the second motor according to the door opening angle and the door opening and closing instruction of the door body, so that the door body performs the driving force corresponding to the door opening angle during the door opening and closing process, including:

[0046] In response to the door opening instruction, the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operation state of the first motor and the second motor according to the first angle and the second angle, so that the door body performs a driving force corresponding to the door opening angle during the door opening process. Or,

[0047] In response to the door closing command, the refrigerator controls the engagement or opening of the first clutch and the first transmission mechanism, the engagement or opening of the second clutch and the second transmission mechanism, and the operating status of the first motor and the second motor according to the first angle and the third angle, so that the door body executes a driving force corresponding to the door opening angle during the door closing process.

[0048] The third angle is smaller than the first angle, and the first angle is smaller than the second angle.

[0049] Specifically, the value of the first angle may be 27°, the value of the second angle may be 90°, and the value of the third angle may be 0°. The values ​​of the first angle, the second angle, and the third angle may be adjusted and set according to the properties of the refrigerator, and are not listed here one by one.

[0050] In this way, due to factors such as the refrigerator vertical beam, stopper, negative pressure, etc., the resistance is large at the beginning of the refrigerator door opening and the end of the refrigerator door closing, and a large driving force is required. The resistance is small when opening and closing the door at other positions, and the required driving force is small. In order to ensure the reliability of the refrigerator door opening and closing, a large driving force is required, but this large driving force cannot run through the entire process of opening and closing the door to avoid collisions during the door opening and closing process. When receiving the door opening and closing command, the area with large resistance and the area with small resistance are determined according to the first angle, the second angle, and the third angle, and low power is used in the area with large resistance, and high power is used in the area with large resistance. The corresponding actions of the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first clutch, and the second clutch are controlled to execute the motor driving force corresponding to the door opening angle. The motor driving force used by the refrigerator at different times of opening and closing the door is different, and corresponds to the door opening angle, taking into account the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0051] Optionally, the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operating states of the first motor and the second motor according to the first angle and the second angle, so that the door body executes a driving force corresponding to the door opening angle during the door opening process, including: the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operating states of the first motor and the second motor according to the first angle, the second angle and the door opening time, so that the door body executes a driving force corresponding to the door opening angle during the door opening process.

[0052] In this way, during the process of opening the door of the refrigerator, the corresponding actions of the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first clutch, and the second clutch are controlled according to the first angle, the second angle, and the door opening time, so as to execute the motor driving force corresponding to the door opening angle. The motor driving force used by the refrigerator at different times of opening and closing the door is different and corresponds to the door opening angle, taking into account the reliability of the door body opening and closing and reducing the safety risk caused by collision during the opening and closing process.

[0053] Optionally, the refrigerator controls the engagement or opening of the first clutch and the first transmission mechanism, the engagement or opening of the second clutch and the second transmission mechanism, and the operation states of the first motor and the second motor according to the first angle, the second angle, and the door opening time, so that the door body performs a driving force corresponding to the door opening angle during the door opening process, including:

[0054] When the door opening angle is less than or equal to the first angle, and the door opening time is less than the first duration, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the door body executes the first driving force corresponding to the door opening angle during the door opening process. And / or,

[0055] When the door opening angle is greater than the first angle and less than the second angle, or the door opening time is less than the second duration and greater than or equal to the first duration, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to open with the second transmission mechanism, the first motor to operate, and the second motor to stop, so that the door body executes the second driving force corresponding to the door opening angle during the door opening process. And / or,

[0056] When the door opening angle is greater than or equal to the second angle, or the door opening time is greater than or equal to the second duration and the door opening angle is still less than the second angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, the first motor to stop, and the second motor to stop, so that the door body executes the driving force corresponding to the door opening angle as the third driving force during the door opening process, so as to control the refrigerator to stop opening the door, or, according to the number of sensor abnormalities, control the automatic door opening and closing function to be disabled or control the refrigerator to stop opening the door.

[0057] The first duration is shorter than the second duration, the first driving force is greater than the second driving force, and the second driving force is greater than the third driving force.

[0058] Specifically, the value of the first time length may be 1 second, and the value of the second time length may be 8 seconds. The values ​​of the first time length and the second time length may be adjusted and set according to the properties of the refrigerator, which are not listed here one by one.

[0059] In this way, in the initial stage of opening the refrigerator door, if the door opening angle is less than the smaller first angle, and the door opening time is the shorter first duration, at this time, due to factors such as the refrigerator vertical beam, the stopper, and the negative pressure, the refrigerator door opening resistance is the largest. At this time, the first clutch needs to be engaged with the first transmission mechanism, the second clutch needs to be engaged with the second transmission mechanism, and the first motor and the second motor need to be operated to provide the largest first driving force for the refrigerator door body, and the door opening action is reliable in the initial stage of opening the refrigerator door. In the middle stage of opening the refrigerator door, if the door opening angle is greater than the smaller first angle and less than the larger second angle, or the refrigerator door opening time is between the first duration and the second duration, at this time, the refrigerator door opening resistance does not have the resistance caused by factors such as the refrigerator vertical beam, the stopper, and the negative pressure, and only has the resistance of the door body itself. The first clutch is engaged with the first transmission mechanism, the second clutch is opened with the second transmission mechanism, the first motor is operated, and the second motor is stopped, providing the refrigerator door body with a smaller second driving force, and the largest first driving force will not be caused throughout the entire process of opening and closing the door, thereby reducing the occurrence of collisions. At the end of the refrigerator door opening, if the door opening angle is greater than or equal to the second angle, or the door opening time is greater than or equal to the longer second time period, the door closing is completed, and the first clutch and the first transmission mechanism are opened, the second clutch and the second transmission mechanism are opened, the first motor is stopped, and the second motor is stopped to provide the refrigerator with the minimum third driving force to stop opening the door, or first check whether the angle sensor is normal to disable the automatic door opening and closing function or stop opening the door. The motor driving force used by the refrigerator at different times of opening and closing the door is different and corresponds to the door opening angle, taking into account the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0060] Optionally, when the door opening angle is greater than or equal to the second angle, or the door opening time is greater than or equal to the second time duration and the door opening angle is still less than the second angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, the first motor to stop, and the second motor to stop, so that the door body executes a driving force corresponding to the door opening angle as a third driving force during the door opening process, so as to control the refrigerator to stop opening the door, or, according to the number of abnormal angle sensor events, control the automatic door opening and closing function to be disabled or control the refrigerator to stop opening the door, including:

[0061] When the door opening angle is greater than or equal to the second angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, the first motor to stop, and the second motor to stop, so that the door body executes the driving force corresponding to the door opening angle as the third driving force during the door opening process, so as to control the refrigerator to stop opening the door. Or,

[0062] When the door opening time is greater than or equal to the second time duration and the door opening angle is still less than the second angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, the first motor to stop, and the second motor to stop, so that the door body executes the driving force corresponding to the door opening angle as the third driving force during the door opening process, and controls the automatic door opening and closing function to be disabled or controls the refrigerator to stop opening the door according to the number of abnormal angle sensor events.

[0063] In this way, if the door opening angle of the refrigerator at the end of opening the door is greater than or equal to the second angle, the first clutch and the first transmission mechanism are opened, the second clutch and the second transmission mechanism are opened, the first motor is stopped, and the second motor is stopped, so as to provide the refrigerator with the minimum third driving force to stop opening the door. If the door opening time of the refrigerator at the end of opening the door is greater than or equal to the longer second time duration, but the door opening angle is still less than the second angle, the first clutch and the first transmission mechanism are opened, the second clutch and the second transmission mechanism are opened, the first motor is stopped, and the second motor is stopped, so as to provide the refrigerator with the minimum third driving force, and the automatic door opening and closing function is disabled or the refrigerator is controlled to stop opening the door according to the number of abnormal angle sensor occurrences, which is conducive to timely troubleshooting the problem of abnormal automatic door opening and closing function caused by abnormal angle sensor, thereby improving the reliability of door body opening and closing.

[0064] Optionally, the refrigerator controls the automatic door opening and closing function to be disabled or controls the refrigerator to stop opening the door according to the number of abnormal angle sensor occurrences, including: when the number of abnormal angle sensor occurrences is less than the number threshold, the refrigerator controls the refrigerator to stop opening the door. Or, when the number of abnormal angle sensor occurrences is greater than or equal to the number threshold, the refrigerator sends a message of angle sensor failure and controls the automatic door opening and closing function to be disabled. Specifically, the value of the number threshold may be 5. The value of the number threshold may be adjusted and set according to the properties of the refrigerator, which are not listed here one by one.

[0065] In this way, if the door opening time of the refrigerator at the end of the door opening is greater than or equal to the longer second time period, but the door opening angle is still less than the second angle, and the number of angle sensor abnormalities is greater than or equal to the number threshold, it is necessary to immediately send a message of angle sensor failure and immediately disable the automatic door opening and closing function. This is conducive to timely troubleshooting the problem of abnormal automatic door opening and closing function caused by abnormal angle sensor, thereby improving the reliability of door opening and closing.

[0066] Optionally, before the door opening angle is less than or equal to the first angle, and the door opening time is less than the first duration, the method further includes: when the door opening angle is less than the second angle, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the driving force corresponding to the door opening angle during the door opening process is the first driving force. Alternatively, when the door opening angle is greater than or equal to the second angle, the refrigerator controls the refrigerator to stop opening the door.

[0067] In this way, if the door opening angle is less than the second angle at the initial stage of door opening, the first clutch is engaged with the first transmission mechanism, the second clutch is engaged with the second transmission mechanism, and the first motor and the second motor are both operated, providing the maximum first driving force for the door body of the refrigerator, and the door opening action is reliable at the initial stage of the refrigerator door opening. If the door opening angle is greater than or equal to the second angle, the refrigerator does not need to continue opening the door, that is, stops opening the door, reducing the safety risk caused by collision during the opening and closing process.

[0068] Optionally, the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operating states of the first motor and the second motor according to the first angle and the third angle, so that the door body performs a driving force corresponding to the door opening angle during the door closing process, including:

[0069] When the door opening angle is greater than or equal to the first angle, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to open with the second transmission mechanism, the first motor to operate, and the second motor to stop, so that the door body executes the second driving force corresponding to the door opening angle during the door closing process. And / or,

[0070] When the door opening angle is less than the first angle and greater than the third angle, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the door body generates the first driving force corresponding to the door opening angle during the door closing process. And / or,

[0071] When the door opening angle is less than or equal to the third angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, and the first motor and the second motor to stop, so that the door body executes the third driving force corresponding to the door opening angle during the door closing process.

[0072] The first driving force is greater than the second driving force, and the second driving force is greater than the third driving force.

[0073] In this way, at the initial stage of closing the refrigerator door, if the door opening angle is greater than or equal to the smaller first angle, the refrigerator door opening resistance is still small at this time. At this time, the refrigerator door closing resistance does not have the resistance caused by factors such as the refrigerator vertical beam, stopper, negative pressure, etc., but only the resistance of the door body itself. The first clutch is engaged with the first transmission mechanism, the second clutch is opened with the second transmission mechanism, the first motor is running, and the second motor is stopped, providing a smaller second driving force for the refrigerator door body, and the maximum first driving force will not run through the entire process of opening and closing the door, thereby reducing the occurrence of collisions. At the final stage of closing the refrigerator door, if the door opening angle is less than the smaller first angle, and the door opening angle is greater than the smallest third angle, then at this time, due to factors such as the refrigerator vertical beam, stopper, negative pressure, etc., the refrigerator door closing resistance is the largest at this time. At this time, it is necessary to engage the first clutch with the first transmission mechanism, the second clutch with the second transmission mechanism, and the first motor and the second motor are both running to provide the refrigerator door body with the maximum first driving force, and the closing action at the final stage of closing the refrigerator door is reliable. If the door opening angle is less than or equal to the third angle at the end of the refrigerator door closing, the minimum third driving force is provided to the refrigerator door body, and the maximum first driving force will not be used throughout the entire process of opening and closing the door, thereby reducing the occurrence of collisions. The motor driving force used by the refrigerator at different times of opening and closing the door is different and corresponds to the door opening angle, taking into account the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0074] Optionally, after responding to the door closing instruction, the method further includes:

[0075] When the door opening angle is less than or equal to the third angle, the refrigerator determines that the angle sensor is abnormal during the previous door opening process.

[0076] In the case that an abnormality occurs in the angle sensor during the previous door opening process, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the driving force corresponding to the door opening angle during the door closing process is the first driving force. In the case that the door opening angle is less than or equal to the third angle, the refrigerator controls the first clutch to open with the first transmission mechanism, the second clutch to open with the second transmission mechanism, and the first motor and the second motor to stop, so that the driving force corresponding to the door opening angle during the door closing process is the third driving force.

[0077] When no abnormality occurs to the angle sensor during the previous door opening process, the refrigerator controls the refrigerator to stop closing the door.

[0078] In this way, if the door opening angle is less than or equal to the minimum third angle at the initial stage of closing the refrigerator door, it is necessary to determine whether the red angle sensor is abnormal during the previous door opening process. If the angle sensor is abnormal, the first clutch is directly controlled to engage with the first transmission mechanism, the second clutch is controlled to engage with the second transmission mechanism, and the first motor and the second motor are both operated to provide the maximum first driving force for the refrigerator door body, thereby improving the reliability of the door closing action when the angle sensor is abnormal. If the angle sensor is not abnormal, the door closing instruction is executed and the refrigerator stops closing the door.

[0079] Combination Figure 4 As shown, the embodiment of the present disclosure provides another method for opening and closing a refrigerator door, comprising:

[0080] S401, the refrigerator determines the opening angle of the door.

[0081] S402, in response to the door opening instruction, the refrigerator controls the first clutch to engage or open with the first transmission mechanism, the second clutch to engage or open with the second transmission mechanism, and the operation state of the first motor and the second motor according to the first angle and the second angle, so that the door body performs the driving force corresponding to the door opening angle during the door opening process. Or,

[0082] S403, in response to the door closing command, the refrigerator controls the engagement or opening of the first clutch and the first transmission mechanism, the engagement or opening of the second clutch and the second transmission mechanism, and the operating status of the first motor and the second motor according to the first angle and the third angle, so that the door body executes a driving force corresponding to the door opening angle during the door closing process.

[0083] The third angle is smaller than the first angle, and the first angle is smaller than the second angle.

[0084] According to the method for opening and closing the door of a refrigerator provided by the embodiment of the present disclosure, due to factors such as the refrigerator vertical beam, the stopper, and the negative pressure, the resistance is large at the beginning of opening the door of the refrigerator and the end of closing the door of the refrigerator, and a large driving force is required. When opening and closing the door at other positions, the resistance is small and the required driving force is small. In order to ensure the reliability of opening and closing the door of the refrigerator, a large driving force is required, but this large driving force cannot run through the entire process of opening and closing the door to avoid collisions during the opening and closing process. When receiving the door opening and closing instruction, the area with large resistance and the area with small resistance are determined according to the first angle, the second angle, and the third angle, and low power is used in the area with large resistance, and high power is used in the area with large resistance. The corresponding actions of the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first clutch, and the second clutch are controlled to execute the motor driving force corresponding to the door opening angle. The motor driving force used by the refrigerator at different times of opening and closing the door is different and corresponds to the door opening angle, taking into account the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0085] Combination Figure 5As shown, the embodiment of the present disclosure provides another method for opening and closing a refrigerator door, comprising:

[0086] S501, the refrigerator determines the opening angle of the door.

[0087] S502, in response to the door opening instruction, when the door opening angle is less than the second angle, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the door body executes the first driving force corresponding to the door opening angle during the door opening process.

[0088] S503, when the door opening angle is less than or equal to the first angle, and the door opening time is less than the first duration, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the door body executes the first driving force corresponding to the door opening angle during the door opening process.

[0089] S504, when the door opening angle is greater than the first angle and less than the second angle, or the door opening time is less than the second duration and greater than or equal to the first duration, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to open with the second transmission mechanism, the first motor to run, and the second motor to stop, so that the door body executes the second driving force corresponding to the door opening angle during the door opening process.

[0090] S505, when the door opening angle is greater than or equal to the second angle, or the door opening time is greater than or equal to the second time duration and the door opening angle is still less than the second angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, the first motor to stop, and the second motor to stop, so that the door body executes the driving force corresponding to the door opening angle as the third driving force during the door opening process, so as to control the refrigerator to stop opening the door, or, according to the number of sensor abnormalities, control the automatic door opening and closing function to be disabled or control the refrigerator to stop opening the door.

[0091] S506, in response to the door opening instruction, when the door opening angle is greater than or equal to the second angle, the refrigerator controls the refrigerator to stop opening the door.

[0092] S507, in response to the door closing instruction, when the door opening angle is less than or equal to the third angle, the refrigerator determines that the angle sensor was abnormal during the previous door opening process.

[0093] S508, when an abnormality occurs in the angle sensor during the previous door opening process, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the door body executes the first driving force corresponding to the door opening angle during the door closing process.

[0094] S509, when the door opening angle is less than or equal to the third angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, and the first motor and the second motor to stop, so that the door body executes the third driving force corresponding to the door opening angle during the door closing process.

[0095] S510, when the door opening angle is greater than or equal to the first angle, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to open with the second transmission mechanism, the first motor to run, and the second motor to stop, so that the door body executes the second driving force corresponding to the door opening angle during the door closing process.

[0096] S511, when the door opening angle is less than the first angle and greater than the third angle, the refrigerator controls the first clutch to engage with the first transmission mechanism, the second clutch to engage with the second transmission mechanism, and the first motor and the second motor to operate, so that the door body executes the first driving force corresponding to the door opening angle during the door closing process.

[0097] S512, when the door opening angle is less than or equal to the third angle, the refrigerator controls the first clutch and the first transmission mechanism to open, the second clutch and the second transmission mechanism to open, and the first motor and the second motor to stop, so that the door body executes the third driving force corresponding to the door opening angle during the door closing process.

[0098] S513, when there is no abnormality in the angle sensor during the previous door opening process, the refrigerator controls the refrigerator to stop closing the door.

[0099] The third angle is smaller than the first angle, the first angle is smaller than the second angle, the first duration is smaller than the second duration, the first driving force is greater than the second driving force, and the second driving force is greater than the third driving force.

[0100] Using the method for opening and closing the door of a refrigerator provided by the embodiment of the present disclosure, if the door opening angle is less than the second angle at the initial stage of door opening, the first clutch is engaged with the first transmission mechanism, the second clutch is engaged with the second transmission mechanism, and the first motor and the second motor are both running, providing the maximum first driving force for the door body of the refrigerator, and the door opening action is reliable at the initial stage of the refrigerator door opening. If the door opening angle is greater than or equal to the second angle, the refrigerator does not need to continue opening the door, that is, it stops opening the door, reducing the safety risk caused by collision during the opening and closing process. At the initial stage of the refrigerator door opening, if the door opening angle is less than the smaller first angle, and the door opening time is the shorter first duration, at this time, due to factors such as the refrigerator vertical beam, the stopper, and the negative pressure, the refrigerator door opening resistance is the largest at this time. At this time, it is necessary for the first clutch to be engaged with the first transmission mechanism, the second clutch to be engaged with the second transmission mechanism, and the first motor and the second motor to be both running, to provide the maximum first driving force for the door body of the refrigerator, and the door opening action is reliable at the initial stage of the refrigerator door opening. In the middle of opening the refrigerator door, if the door opening angle is greater than the smaller first angle and less than the larger second angle, or the door opening time of the refrigerator is between the first duration and the second duration, at this time, the refrigerator door opening resistance does not have the resistance caused by factors such as the refrigerator vertical beam, stopper, negative pressure, etc., but only the resistance of the door body itself. The first clutch is engaged with the first transmission mechanism, the second clutch is opened with the second transmission mechanism, the first motor is running, and the second motor is stopped, providing a smaller second driving force for the refrigerator door body, and the maximum first driving force will not run through the entire process of opening and closing the door, thereby reducing the occurrence of collisions. In the final stage of opening the refrigerator door, if the door opening angle is greater than or equal to the second angle, or the door opening time is greater than or equal to the longer second duration, the door closing is completed, and the first clutch and the first transmission mechanism need to be opened, the second clutch and the second transmission mechanism need to be opened, the first motor needs to be stopped, and the second motor needs to be stopped to provide the refrigerator with the smallest third driving force to stop opening the door, or first check whether the angle sensor is normal to disable the automatic door opening and closing function or stop opening the door.

[0101] If the door opening angle is less than or equal to the smallest third angle at the initial stage of closing the refrigerator door, it is necessary to determine whether the red angle sensor is abnormal during the previous door opening process. If the angle sensor is abnormal, the first clutch is directly controlled to engage with the first transmission mechanism, the second clutch is engaged with the second transmission mechanism, and the first motor and the second motor are both operated to provide the largest first driving force for the door body of the refrigerator, and improve the reliability of the door closing action when the angle sensor is abnormal. If the angle sensor is not abnormal, the door closing instruction is executed, and the refrigerator stops closing the door. If the door opening angle is greater than or equal to the smaller first angle at the initial stage of closing the refrigerator door, the refrigerator door opening resistance is still small at this time. At this time, the refrigerator door closing resistance is not affected by the resistance caused by factors such as the refrigerator vertical beam, stopper, and negative pressure, but only by the resistance of the door body itself. The first clutch is engaged with the first transmission mechanism, the second clutch is opened with the second transmission mechanism, the first motor is operated, and the second motor is stopped, providing the refrigerator door body with a smaller second driving force, and the largest first driving force will not be made throughout the entire process of opening and closing the door, thereby reducing the occurrence of collisions. At the end of the refrigerator door closing, if the door opening angle is less than the smaller first angle, and the door opening angle is greater than the smallest third angle, then at this time, due to factors such as the refrigerator vertical beam, stopper, negative pressure, etc., the refrigerator door closing resistance is the largest. At this time, the first clutch needs to be engaged with the first transmission mechanism, the second clutch needs to be engaged with the second transmission mechanism, and the first motor and the second motor need to be running to provide the refrigerator door with the largest first driving force, so that the door closing action is reliable at the end of the refrigerator door closing. At the end of the refrigerator door closing, if the door opening angle is less than or equal to the third angle, the smallest third driving force is provided for the refrigerator door, and the largest first driving force will not be used throughout the entire process of opening and closing the door, thereby reducing the occurrence of collisions. The motor driving force used by the refrigerator at different times of opening and closing the door is different, and corresponds to the door opening angle, taking into account the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0102] The refrigerator uses different motor driving forces at different times when opening and closing the door, and corresponds to the door opening angle, taking into account the reliability of the door opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0103] Combination Figure 6 As shown, the embodiment of the present disclosure provides a device 200 for opening and closing a refrigerator door, comprising a determination module 601 and a control module 602. The determination module 601 is configured to determine the door opening angle of the door body. The control module 602 is configured to control the engagement or opening of the first clutch and the first transmission mechanism, the engagement or opening of the second clutch and the second transmission mechanism, and the operating state of the first motor and the second motor according to the door opening angle of the door body, so that the door body performs a driving force corresponding to the door opening angle during the door opening and closing process.

[0104] Using the device 200 for opening and closing the refrigerator door provided by the embodiment of the present disclosure, due to factors such as the refrigerator vertical beam, stopper, negative pressure, etc., the resistance is relatively large at the beginning of opening the refrigerator door and the end of closing the refrigerator door, and a relatively large driving force is required. When opening and closing the door at other positions, the resistance is relatively small, and the required driving force is relatively small. In order to ensure the reliability of opening and closing the refrigerator door, a relatively large driving force is required, but this relatively large driving force cannot run through the entire process of opening and closing the door to avoid collisions during the process of opening and closing the door. According to the opening angle of the door body, the corresponding actions of the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first clutch, and the second clutch are controlled to execute the motor driving force corresponding to the opening angle. The motor driving force used by the refrigerator at different times of opening and closing the door is different and corresponds to the opening angle, taking into account both the reliability of the door body opening and closing and reducing the safety risks caused by collisions during the opening and closing process.

[0105] Combination Figure 7 As shown, the embodiment of the present disclosure provides a device 300 for opening and closing a refrigerator door, including a processor 700 and a memory 701. Optionally, the device 300 may also include a communication interface 702 and a bus 703. The processor 700, the communication interface 702, and the memory 701 may communicate with each other through the bus 703. The communication interface 702 may be used for information transmission. The processor 700 may call the logic instructions in the memory 701 to execute the method for opening and closing a refrigerator door of the above embodiment.

[0106] In addition, the logic instructions in the memory 701 described above may be implemented in the form of software functional units and when sold or used as independent products, may be stored in a computer-readable storage medium.

[0107] The memory 701 is a computer-readable storage medium that can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 700 executes the function application and data processing by running the program instructions / modules stored in the memory 701, that is, the method for opening and closing the refrigerator door in the above embodiment is implemented.

[0108] The memory 701 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 701 may include a high-speed random access memory and may also include a non-volatile memory.

[0109] Combination Figure 8As shown, the embodiment of the present disclosure provides a refrigerator 100, including: a product body, and the above-mentioned device 200 (300) for opening and closing the refrigerator door. The device 200 (300) for opening and closing the refrigerator door is installed on the refrigerator body. The installation relationship described here is not limited to placement inside the product body, but also includes installation connections with other components of the refrigerator 100, including but not limited to physical connections, electrical connections or signal transmission connections. It can be understood by those skilled in the art that the device 200 (300) for opening and closing the refrigerator door can be adapted to a feasible refrigerator body, thereby realizing other feasible embodiments.

[0110] The refrigerator body includes: a first motor, a second motor, a first transmission mechanism, a second transmission mechanism, a first clutch, a second clutch and an angle sensor. The first transmission mechanism is connected to the first motor. The second transmission mechanism is connected to the second motor. The first clutch is engaged with or opened by the first transmission mechanism, and is used to transmit the driving force of the first motor to the door body through the first transmission mechanism. The second clutch is engaged with or opened by the second transmission mechanism, and is used to transmit the driving force of the second motor to the door body through the second transmission mechanism. The angle sensor is connected to the door body drive gear through a connecting gear to realize the door opening angle detection when the door body rotates.

[0111] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned method for opening and closing a refrigerator door.

[0112] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0113] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0114] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0115] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0116] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A method for opening and closing a refrigerator door, characterized in that: The refrigerator includes: First motor; A second motor; a first transmission mechanism connected to the first motor; A second transmission mechanism connected to the second motor; A first clutch is engaged or released with the first transmission mechanism, and is used to transmit the driving force of the first motor to the door body through the first transmission mechanism; A second clutch is engaged or released with the second transmission mechanism, and is used to transmit the driving force of the second motor to the door body through the second transmission mechanism; The angle sensor is connected to the door driving gear through a connecting gear to detect the door opening angle when the door rotates; the method includes: Determine the door opening angle; According to the opening angle of the door body, the first clutch and the first transmission mechanism are engaged or opened, the second clutch and the second transmission mechanism are engaged or opened, and the operating status of the first motor and the second motor are controlled to enable the door body to execute a driving force corresponding to the opening angle during the door opening and closing process.

2. The method according to claim 1, characterized in that According to the door opening angle of the door body, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operation state of the first motor and the second motor is controlled, so that the door body executes the driving force corresponding to the door opening angle during the door opening and closing process, including: According to the door opening angle and the door opening and closing instructions of the door body, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operating states of the first motor and the second motor are controlled so that the door body executes the driving force corresponding to the door opening angle during the door opening and closing process; The door opening and closing instructions include door opening instructions or door closing instructions.

3. The method according to claim 2, characterized in that According to the door opening angle and the door opening and closing instruction of the door body, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operation state of the first motor and the second motor is controlled, so that the door body executes the driving force corresponding to the door opening angle during the door opening and closing process, including: In response to the door opening command, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operating states of the first motor and the second motor are controlled according to the first angle and the second angle, so that the door body performs a driving force corresponding to the door opening angle during the door opening process; or, In response to the door closing command, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operation states of the first motor and the second motor are controlled according to the first angle and the third angle, so that the door body performs a driving force corresponding to the door opening angle during the door closing process; The third angle is smaller than the first angle, and the first angle is smaller than the second angle.

4. The method according to claim 3, characterized in that According to the first angle and the second angle, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operation state of the first motor and the second motor is controlled, so that the door body performs a driving force corresponding to the door opening angle during the door opening process, including: According to the first angle, the second angle and the door opening time, the first clutch and the first transmission mechanism are engaged or opened, the second clutch and the second transmission mechanism are engaged or opened, and the operating states of the first motor and the second motor are controlled so that the door body executes a driving force corresponding to the door opening angle during the door opening process.

5. The method according to claim 4, characterized in that According to the first angle, the second angle and the door opening time, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operation state of the first motor and the second motor is controlled so that the door body performs a driving force corresponding to the door opening angle during the door opening process, including: When the door opening angle is less than or equal to the first angle, and the door opening time is less than the first duration, the first clutch is controlled to engage with the first transmission mechanism, the second clutch is controlled to engage with the second transmission mechanism, and the first motor and the second motor are controlled to operate, so that the driving force corresponding to the door opening angle during the door opening process is the first driving force; and / or, When the door opening angle is greater than the first angle and less than the second angle, or the door opening time is less than the second duration and greater than or equal to the first duration, the first clutch is controlled to engage with the first transmission mechanism, the second clutch is controlled to open with the second transmission mechanism, the first motor is controlled to operate, and the second motor is controlled to stop, so that the driving force corresponding to the door opening angle during the door opening process is the second driving force; and / or When the door opening angle is greater than or equal to the second angle, or the door opening time is greater than or equal to the second time duration and the door opening angle is still less than the second angle, the first clutch and the first transmission mechanism are controlled to open, the second clutch and the second transmission mechanism are controlled to open, the first motor is stopped, and the second motor is stopped, so that the door body executes a driving force corresponding to the door opening angle as a third driving force during the door opening process, so as to control the refrigerator to stop opening the door, or, according to the number of sensor abnormalities, control the automatic door opening and closing function to be disabled or control the refrigerator to stop opening the door; The first duration is shorter than the second duration, the first driving force is greater than the second driving force, and the second driving force is greater than the third driving force.

6. The method according to any one of claims 3 to 5, characterized in that: According to the first angle and the third angle, the first clutch is engaged or opened with the first transmission mechanism, the second clutch is engaged or opened with the second transmission mechanism, and the operation state of the first motor and the second motor is controlled so that the door body performs a driving force corresponding to the door opening angle during the door closing process, including: When the door opening angle is greater than or equal to the first angle, the first clutch is controlled to engage with the first transmission mechanism, the second clutch is controlled to open with the second transmission mechanism, the first motor is controlled to operate, and the second motor is controlled to stop, so that the driving force corresponding to the door opening angle during the door closing process is the second driving force; and / or, When the door opening angle is less than the first angle and the door opening angle is greater than the third angle, the first clutch is controlled to engage with the first transmission mechanism, the second clutch is controlled to engage with the second transmission mechanism, and the first motor and the second motor are controlled to operate, so that the driving force corresponding to the door opening angle during the door closing process is the first driving force; and / or When the door opening angle is less than or equal to the third angle, the first clutch and the first transmission mechanism are controlled to open, the second clutch and the second transmission mechanism are controlled to open, and the first motor and the second motor are controlled to stop, so that the driving force corresponding to the door opening angle during the door closing process is the third driving force; The first driving force is greater than the second driving force, and the second driving force is greater than the third driving force.

7. A device for opening and closing a refrigerator door, characterized in that: The refrigerator includes: First motor; A second motor; a first transmission mechanism connected to the first motor; A second transmission mechanism connected to the second motor; A first clutch is engaged or released with the first transmission mechanism, and is used to transmit the driving force of the first motor to the door body through the first transmission mechanism; A second clutch is engaged or released with the second transmission mechanism, and is used to transmit the driving force of the second motor to the door body through the second transmission mechanism; The angle sensor is connected to the door driving gear through a connecting gear to detect the door opening angle when the door rotates; the device includes: A determination module is configured to determine an opening angle of a door body; The control module is configured to control the engagement or opening of the first clutch and the first transmission mechanism, the engagement or opening of the second clutch and the second transmission mechanism, and the operating status of the first motor and the second motor according to the opening angle of the door body, so that the door body executes a driving force corresponding to the opening angle during the door opening and closing process.

8. A device for opening and closing a refrigerator door, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the method for opening and closing a refrigerator door according to any one of claims 1 to 6 when running the program instructions.

9. A refrigerator, characterized in that: include: The refrigerator body comprises: a first motor; a second motor; a first transmission mechanism connected to the first motor; a second transmission mechanism connected to the second motor; a first clutch engaged with or opened by the first transmission mechanism, and used to transmit the driving force of the first motor to the door body through the first transmission mechanism; a second clutch engaged with or opened by the second transmission mechanism, and used to transmit the driving force of the second motor to the door body through the second transmission mechanism; an angle sensor connected to the door body driving gear through a connecting gear, so as to detect the door opening angle when the door body rotates; The device for opening and closing a refrigerator door as described in claim 7 or 8 is installed on the refrigerator body.

10. A computer-readable storage medium storing program instructions, characterized in that: When the program instructions are executed, the computer is used to execute the method for opening and closing a refrigerator door as described in any one of claims 1 to 6.

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