Clothes dryer

Abstract

The invention discloses a clothes dryer, which comprises a box body; a door body; a door lock; the auxiliary door opening module comprises a power source; a decompression device; an air inlet of the pressure regulating device is communicated with an air outlet of the pressure reducing device, and the pressure regulating device outputs pilot pressure; a pressure channel; an air inlet of the relay valve is communicated with an air outlet of the power source, and an air outlet of the relay valve is communicated with an inlet of the pressure channel; the first air pressure sensor is used for detecting pilot pressure; the second air pressure sensor is used for detecting output pressure; the pressure regulating device comprises a first electromagnetic valve, a second electromagnetic valve and a controller, and the controller is configured to obtain an output quantity u through PID control according to the error e; the power-on state of the first electromagnetic valve and the power-on state of the second electromagnetic valve are controlled according to the value of the output quantity u, and the pressure regulating device is controlled to increase the pressure or maintain the pressure or reduce the pressure through the power-on state of the first electromagnetic valve and the power-on state of the second electromagnetic valve.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and particularly to a dryer. Background Art

[0002] A dryer is a device for quickly drying wet clothes. The dryer includes a cabinet and a door. A feeding port is provided on the cabinet, and the door is used to open or close the feeding port. When the dryer is working, the door must be kept closed to ensure that hot air does not leak out, so as to ensure the drying effect. When the dryer finishes working, the user needs to open the door to take out the clothes. Since the drying effect is ensured during drying, the door switch is generally relatively tight, and generally the user needs to use a relatively large pulling force to open it.

[0003] Currently, the door switch of a dryer usually adopts a mechanical or electronic switch. When the door switch is a mechanical switch, the user needs to apply a certain pulling force to pull the door switch device. When the door switch is an electronic switch, the electronic switch includes a sensor and a control circuit. When the user approaches the dryer, the sensor will detect the presence of the user and automatically open the door through mechanical transmission.

[0004] However, when the door switch is a mechanical switch, the user needs to have a certain arm strength. For special groups with poor arm strength, it is difficult to open the door; moreover, since the pulling force needs to be estimated by oneself, too small or too large will bring discomfort, and the experience is not good for users who pursue a smooth experience.

[0005] When the door switch is an electronic switch, its control algorithm is complex, occupies a large amount of single-chip microcomputer resources, and the operation logic is not accurate enough.

[0006] Therefore, the present application proposes a dryer. Summary of the Invention

[0007] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this reason,

[0008] According to an embodiment of the present disclosure, a dryer is provided, including:

[0009] A cabinet, including a feeding port provided on the front side of the cabinet;

[0010] A drying cylinder, provided in the cabinet;

[0011] A door, connected to the cabinet and used to open or close the feeding port;

[0012] A door lock, connected to the cabinet, the door lock locks the door to restrict the door from opening the feeding port, or the door lock unlocks with the door to enable the door to open the feeding port;

[0013] An auxiliary door opening module, which is arranged inside the box body and is used to apply an air thrust to the door body so that the door body is unlocked from the door lock; the auxiliary door opening module includes:

[0014] A power source for providing compressed air;

[0015] A pressure reducing device for reducing the pressure of the air flowing through the pressure reducing device, and the air inlet of the pressure reducing device is communicated with the air outlet of the power source;

[0016] A pressure regulating device for regulating the air pressure, the air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure;

[0017] A pressure channel for transmitting air;

[0018] A relay valve, whose air inlet is communicated with the air outlet of the power source and whose air outlet is communicated with the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device;

[0019] A first air pressure sensor for detecting the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and recording the detected pressure value as the pilot pressure;

[0020] A second air pressure sensor for detecting the pressure value of the air between the air outlet of the relay valve and the pressure channel and recording the detected pressure value as the output pressure;

[0021] The pressure regulating device includes:

[0022] A first solenoid valve, whose inlet is connected to the outlet of the pressure reducing valve;

[0023] A second solenoid valve, whose inlet is connected to the outlet of the first solenoid valve and the pilot port of the relay valve;

[0024] A controller, which is configured to:

[0025] Obtain an actual pressure value F2' through the pilot pressure or the output pressure;

[0026] Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e;

[0027] Obtain an output quantity u through PID control according to the error e;

[0028] Control the energization states of the first solenoid valve and the second solenoid valve according to the magnitude of the value of the output quantity u, and control the pressure regulating device to increase pressure or maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0029] This application uses PID control to detect and calculate the error e, and then outputs an accurate output u. By controlling the energization or de-energization of the first solenoid valve and the second solenoid valve according to the magnitude of the value of the output u, the pressure boosting, pressure maintaining, or pressure reducing control of the pressure regulating device of the auxiliary door opening module is realized. The PID control logic of this application can more accurately control the actions of the first solenoid valve and the second solenoid valve.

[0030] This application also provides a dryer, comprising:

[0031] A cabinet, including a feeding port provided on the front side of the cabinet;

[0032] A drying drum, provided inside the cabinet;

[0033] A door body, connected to the cabinet and used to open or close the feeding port;

[0034] A door lock, connected to the cabinet. The door lock locks the door body to restrict the door body from opening the feeding port, or the door lock unlocks with the door body to enable the door body to open the feeding port;

[0035] An auxiliary door opening module, provided inside the cabinet, used to apply an air thrust to the door body to unlock the door body from the door lock; the auxiliary door opening module includes:

[0036] A power source, used to provide compressed air;

[0037] A pressure reducing device, used to reduce the pressure of the air flowing through the pressure reducing device. The air inlet of the pressure reducing device is communicated with the air outlet of the power source;

[0038] A pressure regulating device, used to regulate the air pressure. The air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure;

[0039] A pressure channel, used to transmit air;

[0040] A relay valve, whose air inlet is communicated with the air outlet of the power source and whose air outlet is communicated with the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device;

[0041] A first air pressure sensor, used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure;

[0042] A second air pressure sensor, used to detect the pressure value of the air between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure;

[0043] The pressure regulating device includes:

[0044] The first solenoid valve, whose inlet is connected to the outlet of the pressure reducing valve;

[0045] The second solenoid valve, whose inlet is connected to the outlet of the first solenoid valve and the pilot port of the relay valve;

[0046] The controller is configured to:

[0047] Obtain the actual pressure value F2' through the pilot pressure or the output pressure;

[0048] Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e;

[0049] Obtain the output quantity u through PID control according to the error e;

[0050] Control the energization states of the first solenoid valve and the second solenoid valve according to the positive or negative value of the output quantity u, and control the pressure regulating device to increase pressure or maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0051] In some embodiments of the present application, the PID control includes: preset proportional term K p , integral term K i and derivative term K d , perform an operation on the proportional term K p and the k-th error e to obtain the proportional parameter, perform an operation on the integral term K i and the sum of the errors e from the 1st to the k-th to obtain the integral parameter, perform an operation on the derivative term K d and the difference between the k-th error and the (k - 1)-th error to obtain the derivative parameter;

[0052] Add the proportional parameter, the integral parameter and the derivative parameter to obtain the value of the k-th output quantity u(k).

[0053] In some embodiments of the present application, multiply the proportional term K p by the k-th error e to obtain the proportional parameter;

[0054] Multiply the integral term K i by the sum of the errors e from the 1st to the k-th to obtain the integral parameter;

[0055] Multiply the derivative term K d by the difference between the k-th error and the (k - 1)-th error to obtain the derivative parameter.

[0056] In some embodiments of the present application, the controller is configured to: after an interval of a preset time, according to the error e, the proportional term K p , the integral term Ki and the derivative term K d to perform an operation to obtain the value of the output u at the k-th time.

[0057] In some embodiments of the present application, when the output u is greater than 0, the first solenoid valve and the second solenoid valve are energized, and the pressure regulating device increases the pressure.

[0058] In some embodiments of the present application, when the output u is equal to 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains the pressure.

[0059] In some embodiments of the present application, when the output u is less than 0, the first solenoid valve and the second solenoid valve are de-energized, and the pressure regulating device reduces the pressure.

[0060] In some embodiments of the present application, the proportional term K p , the integral term K i and the derivative term K d are set as constants, and the proportional term K p , the integral term K i and the derivative term K d are set as fixed values.

[0061] In some embodiments of the present application, when the difference between the pilot pressure and the output pressure is greater than a preset difference, the controller controls to issue a prompt of relay valve failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Figure 1 is the structural diagram of the auxiliary door opening module in the embodiment of the present invention;

[0064] Figure 2 is another structural diagram of the auxiliary door opening module in the embodiment of the present invention;

[0065] Figure 3 is another structural diagram of the auxiliary door opening module in the embodiment of the present invention;

[0066] Figure 4 is another structural diagram of the auxiliary door opening module in the embodiment of the present invention;

[0067] Figure 5 is the front view of the clothes dryer in the embodiment of the present invention;

[0068] Figure 6 is another front view of the dryer according to the embodiment of the present invention;

[0069] Figure 7 is the schematic diagram of the door body opening according to the embodiment of the present invention;

[0070] Figure 8 is the structural schematic diagram of the dryer according to the embodiment of the present invention;

[0071] Figure 9 is another structural schematic diagram of the dryer according to the embodiment of the present invention;

[0072] Figure 10 is another structural schematic diagram of the dryer according to the embodiment of the present invention;

[0073] Figure 11 is the hardware and software structure diagram of the auxiliary door opening module according to the embodiment of the present invention;

[0074] Figure 12 is the information transfer diagram between the software of the mobile phone end and the dryer through the WIFI module according to the embodiment of the present invention;

[0075] Figure 13 is the flowchart of the PID control algorithm for the auxiliary door opening module to enter according to the embodiment of the present invention;

[0076] Figure 14 is the flowchart of the PID control algorithm of the auxiliary door opening module according to the embodiment of the present invention.

[0077] In the following figures:

[0078] Dryer 100; box body 1; drying air duct 11; front air duct 111; rear air duct 112; lower air duct 113; drying cylinder 12; air inlet 121; air outlet 122; front cylinder seal 123; rear cylinder seal 124; clothing accommodation cavity 125; motor 126; belt 127; fan 13; evaporator 141; condenser 142; first water storage tank 15; second water storage tank 16; drainage pump 17; first drain pipe 171; water container 18; water container tray 19; second drain pipe 191; auxiliary door opening module 4; power source 41; pressure reducing device 42; pressure regulating device 43; first solenoid valve 431; second solenoid valve 432; flow regulator 433; pressure channel 44; main pressure channel 441; auxiliary pressure channel 442; relay valve 45; pressure sensor 46; first air pressure sensor 471; second air pressure sensor 472; air path pressure control device 473; one-way air device 474; emergency exhaust device 475; standby gas source device 476; filtering device 477; door body 5; door handle 51. Detailed implementation manners

[0079] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application will be described and explained below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts fall within the scope of protection of the present application.

[0080] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes made based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.

[0081] When the term "embodiment" is mentioned in the present application, it means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0082] The terms "connection", "connected", "coupled" and other similar terms involved in the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in the present application refers to two or more. The "and / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. The terms "first", "second", "third", etc. involved in the present application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0083] In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0084] Refer to Figures 1 - 10, the dryer 100 includes a cabinet 1. Here, the direction from the bottom to the top of the cabinet 1 is the height direction of the cabinet.

[0085] Reference Figures 5 - 6 and Figures 8 - 10 , the cabinet 1 forms the appearance of the dryer 100, and there is an accommodation space inside the cabinet 1. The accommodation space is used to accommodate and fix various components in the dryer 100 to ensure the structural stability of the dryer 100.

[0086] The cabinet 1 includes a feeding port (not shown). Here, the feeding port is provided on the front side of the cabinet 1.

[0087] The dryer further includes a drying cylinder 12. The drying cylinder 12 is arranged inside the cabinet 1. Here, the drying cylinder 12 is rotatably arranged inside the cabinet 1.

[0088] Specifically, the cabinet includes a placement space provided inside the cabinet. Here, the drying cylinder is arranged inside the placement space.

[0089] The drying cylinder includes a drying port (not shown) provided at the side end of the drying cylinder. Here, the drying port is provided on the side of the drying cylinder close to the feeding port, and moreover, the drying port is arranged opposite to the feeding port.

[0090] A clothing accommodation cavity is formed inside the drying cylinder 12. Here, the clothing accommodation cavity is communicated with the drying port, and clothes can be placed in the clothing accommodation cavity through the feeding port and the drying port. The clothing accommodation cavity is used to accommodate the clothes to be dried to dry the clothes to be dried in the clothing accommodation cavity.

[0091] The dryer further includes a door body 5. Here, the door body is connected to the cabinet, and the door body is used to open or close the feeding port. The door body 5 is arranged on one side of the drying cylinder 12. By opening and closing the door body 5, clothes can be put in or taken out to realize the putting in and taking out of the clothes in the clothing accommodation cavity.

[0092] The dryer further includes a door lock. The door lock is connected to the cabinet. The door lock locks the door body to restrict the door body from opening the feeding port, or the door lock unlocks the door body to enable the door body to open the feeding port.

[0093] Currently, opening the door body of the dryer requires a certain amount of arm strength from the user. For special groups with poor arm strength, it is somewhat difficult to open the door body; moreover, since the pulling force needs to be estimated by the user, too small or too large will bring discomfort to the user, and the experience is not good for users who pursue a smooth experience. Or, the dryer often misjudges the user's intention to open the door, resulting in the door opening when it does not need to be opened.

[0094] Therefore, the dryer is further provided with an auxiliary door opening module 4. The auxiliary door opening module 4 is arranged inside the cabinet. The auxiliary door opening module 4 is used to apply an air thrust to the door body to unlock the door body from the door lock.

[0095] ReferenceFigure 1 , the auxiliary door opening module 4 includes a power source 41, wherein the power source is used to provide compressed air.

[0096] Reference Figure 1 , the auxiliary door opening module 4 further includes a pressure reducing device 42, wherein the pressure reducing device 42 is used to reduce the pressure of the air flowing through it. The air inlet of the pressure reducing device is communicated with the air outlet of the power source, so that the pressure reducing device can reduce the pressure of the air flowing out of the power source and output the reduced-pressure air.

[0097] The auxiliary door opening module 4 further includes a pressure regulating device 43, which is used to regulate the air pressure. The air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure.

[0098] Reference Figure 1 , the maximum pressure of the pressure regulating device is regulated by the pressure reducing device 42.

[0099] Reference Figure 1 , the auxiliary door opening module 4 further includes a pressure channel 44, which is used to transmit air.

[0100] Reference Figure 1 , the auxiliary door opening module 4 further includes a relay valve 45. The air inlet of the relay valve 45 is communicated with the air outlet of the power source, and the air outlet of the relay valve 45 is communicated with the inlet of the pressure channel. The pilot port of the relay valve is connected to the pressure regulating device. The relay valve receives the pilot pressure output by the pressure regulating device, and the relay valve amplifies the flow rate according to the pilot pressure and outputs driving air into the pressure channel. The pressure of the driving air is the same as the pilot pressure.

[0101] When the door body is locked with the door lock, the outlet of the pressure channel faces the door body and applies a force to the door body through the driving air to unlock the door body from the door lock.

[0102] The dryer is provided with an auxiliary door opening module, which includes a power source, a pressure reducing device, a pressure regulating device, a relay valve and a pressure channel. It can generate air with a certain pressure to apply a force to the door body, so that the door body can be opened. The auxiliary door opening module can play an auxiliary role in opening the door, solve the problem that it is difficult for the user to open the door body due to insufficient arm strength, and the problem of unsmooth door opening caused by the user's inaccurate estimation of the opening pulling force. The air transmission has high smoothness, uniform and smooth output force, can extend the service life of the door lock, and can bring a smooth door opening experience to the user.

[0103] In some embodiments of the present application, the power source can be a pump body, and among them, the power source can be a small pump.

[0104] In some embodiments of the present application, the pressure reducing device is a pressure reducing valve.

[0105] In some embodiments of the present application, referenceFigures 5 - 6 The auxiliary switch module further includes a pressure sensor 46 disposed on the cabinet, and the pressure sensor 46 is used to detect the interaction force F0 between the door body and the cabinet.

[0106] The auxiliary switch module further includes a first air pressure sensor 471 and a second air pressure sensor 472.

[0107] Wherein, the first air pressure sensor is used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device, and the pressure value detected by the first air pressure sensor is recorded as the pilot pressure.

[0108] Wherein, the second air pressure sensor 472 is used to detect the pressure value of the air between the air outlet of the relay valve and the pressure passage, and the pressure value detected by the second air pressure sensor 472 is recorded as the output pressure.

[0109] Specifically, the flow path between the pilot port of the relay valve and the pressure regulating device is the pilot flow path; the flow path between the air outlet of the relay valve and the pressure passage is the output flow path.

[0110] Wherein, the first air pressure sensor is used to detect the pressure value of the air in the pilot flow path; the second air pressure sensor is used to detect the pressure value of the air in the output flow path.

[0111] The dryer further includes a controller (not shown), and the controller is configured to:

[0112] Monitor the interaction force F0 between the door body and the cabinet;

[0113] When the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, control the pressure regulating device to increase the pressure to increase the pilot pressure or control the pressure regulating device to maintain the pressure to keep the pilot pressure unchanged. The relay valve conveys air to the pressure passage to reduce the interaction force. When the interaction force decreases to 0, the door body and the door lock are unlocked.

[0114] By setting to monitor the interaction force F0 between the door body and the cabinet and when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, controlling the pressure regulating device to increase the pressure or maintain the pressure, the relay valve can generate air with a certain pressure to apply force to the door body, so that the door body opens; and by monitoring the interaction force F0 between the door body and the cabinet in this way to identify whether the user has an intention to open the door, and when the interaction force F0 decreases, it proves that the user has indeed made some actions on the door body, and when the interaction force F0 is less than the first preset interaction force, it proves that the user indeed has an intention to open the door. Therefore, when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, increasing the pressure or maintaining the pressure and the relay valve outputting air can avoid misjudging the user's intention to open the door and causing the door to open when it does not need to be opened, so as to improve the accuracy of judging the intention to open the door and improve the user experience.

[0115] It should be noted that the controller refers to a device that can generate operation control signals according to the instruction operation code and timing signals, and instruct the dryer 100 to execute control instructions. Exemplarily, the controller can be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a programmable logic device (PLD), a microprocessor, a microcontroller, or any combination thereof. The controller can also be other devices with processing functions, such as circuits, devices, or software modules, and the embodiments of the present application do not impose any restrictions thereon.

[0116] In some embodiments of the present application, the controller is configured to:

[0117] When the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, obtain the current pilot pressure of the air in the pilot flow path, and determine whether the current pilot pressure reaches the first pilot pressure P1. When the current pilot pressure does not reach the first pilot pressure P1, control the pressure regulating device to increase the pressure to increase the pilot pressure. When the current pilot pressure reaches the first pilot pressure P1, control the pressure regulating device to maintain the pressure to keep the pilot pressure unchanged.

[0118] In some embodiments of the present application, the controller is configured to:

[0119] When the current pilot pressure does not reach the first pilot pressure P1, control the pressure regulating device to increase the pressure to increase the pilot pressure of the air in the pilot flow path, and stop increasing when the pilot pressure increases to the target pilot pressure P0.

[0120] The thrust required for the door body to open is F2, and the corresponding target pilot pressure is P0.

[0121] In some embodiments of the present application, when the interaction force decreases to 0, the pressure regulating device reduces the pressure, and the auxiliary door opening module no longer generates a thrust on the door body.

[0122] In some embodiments of the present application, referring to Figure 2 , the pressure regulating device includes a first solenoid valve 431 and a second solenoid valve 432.

[0123] The inlet of the first solenoid valve 431 is connected to the outlet of the pressure reducing valve.

[0124] The inlet of the second solenoid valve 432 is connected to the outlet of the first solenoid valve and the pilot port of the relay valve.

[0125] When the pressure regulating device increases the pressure, the first solenoid valve and the second solenoid valve are energized;

[0126] When the pressure regulating device maintains the pressure, the first solenoid valve is de-energized and the second solenoid valve is energized;

[0127] When the pressure regulating device reduces the pressure, the first solenoid valve and the second solenoid valve are de-energized.

[0128] Among them, the states shown in the drawings are those where the first solenoid valve and the second solenoid valve are de-energized.

[0129] By energizing and de-energizing the first solenoid valve, the connection and disconnection of the first solenoid valve are controlled, and by energizing and de-energizing the second solenoid valve, the disconnection and connection of the second solenoid valve are controlled.

[0130] Among them, when the first solenoid valve is energized, the first solenoid valve is connected, and when the first solenoid valve is de-energized, the first solenoid valve is disconnected; when the second solenoid valve is de-energized, the second solenoid valve is connected, and when the second solenoid valve is energized, the second solenoid valve is disconnected.

[0131] The outlet of the second solenoid valve is connected to other devices or is open.

[0132] The first solenoid valve and the second solenoid valve are two-position three-way solenoid valves.

[0133] In some embodiments of the present application, referring to Figure 2 , the pressure regulating device further includes a flow regulator 433. Among them, the inlet of the flow regulator is connected to the pressure reducing device, and the flow regulator 433 is used to control the flow rate of the flow path between the pressure regulating device and the pilot port of the relay valve. Since the relay valve has the function of amplifying the flow rate, therefore, the regulation of the flow path between the pressure regulating device and the pilot port of the relay valve is for the regulation of the output flow rate of the relay valve.

[0134] Among them, the flow regulator 433 can be a throttle valve.

[0135] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the auxiliary door opening module further includes a gas path pressure control device 473. The inlet of the gas path pressure control device 473 is connected to the air outlet of the power source, and the gas path pressure control device 473 is used to control the air pressure of the flow path between the air outlet of the power source and the pressure reducing device to be lower than its overflow air pressure.

[0136] The gas path pressure control device 473 is an overflow valve. Among them, the inlet of the overflow valve is connected to the air outlet of the power source, and the outlet of the overflow valve is connected to other devices or is open.

[0137] In some embodiments of the present application, referring to Figure 3 and Figure 4, the auxiliary door opening module further includes a one-way air device 474 for preventing air backflow. The inlet of the one-way air device 474 is connected to the air outlet of the power source, and the outlet of the one-way air device 474 is connected to the pressure reducing device.

[0138] Among them, the one-way air device 474 is a one-way valve.

[0139] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the auxiliary door opening module further includes an emergency exhaust device 475 for cutting off the air flow path between the power source, the pressure reducing device, and the relay valve.

[0140] In the case where a fault occurs in the air circuit, resulting in continuous air pushing the door body, the emergency exhaust device 475 can be used to cut off the air circuit and at the same time evacuate the air on the side of the emergency exhaust device 475 away from the power source.

[0141] Among them, the emergency exhaust device 475 can be a stop valve.

[0142] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the auxiliary door opening module further includes a filtering device 477. The filtering device is connected to the air inlet of the pressure regulating device and the side of the air inlet of the relay valve close to the power source. The filtering device is used to filter impurities in the air to ensure the purity of the gas.

[0143] Among them, the filtering device can be a filter.

[0144] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the auxiliary door opening module further includes a standby gas source device 476. When the power source fails, the standby gas source device can replace the power source pump for a period of time, improving the lasting use ability of the device and making up for the window period before after-sales service arrives.

[0145] The standby gas source device 476 can be a gas storage tank with a certain volume.

[0146] In some embodiments of the present application, the pressure channel can be one-way. The inlet of the pressure barrel is connected to the air outlet of the relay valve, and the outlet of the pressure channel faces the door body when the door body closes the discharge port.

[0147] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the pressure channel includes a main pressure channel 441, and the inlet of the main pressure channel 441 is connected to the air outlet of the relay valve.

[0148] The pressure channel further includes at least two auxiliary pressure channels 442. One ends of the two auxiliary pressure channels are simultaneously connected to the outlet of the main pressure channel, and the outlets of the two auxiliary pressure channels respectively correspond to different positions of the door body.

[0149] In some embodiments of the present application, referring to Figure 5 and Figure 6 , the door body includes a door handle 51. The pressure sensor is disposed on one side of the door handle of the door body. When the door body closes the delivery opening, the position corresponding to the door body where the outlet of the pressure channel is located is on one side of the door handle.

[0150] In some embodiments of the present application, the number of pressure sensors is the same as the number of auxiliary pressure channels. Among them, the pressure sensors and the auxiliary pressure channels are in one-to-one correspondence. That is, the pressure sensors are disposed on one side of the outlets of the auxiliary pressure channels, and the distance between each pressure sensor and the outlet of its corresponding auxiliary pressure channel is equal or the difference between adjacent two spacings is within a certain range, ensuring the stability of the values detected by the pressure sensors.

[0151] Among them, the interaction force is the interaction force corresponding to the average value of the values detected by the pressure sensors.

[0152] In some embodiments of the present application, the box body includes a delivery opening provided on the front side of the box body; the door body is connected to the box body and is used to open or close the delivery opening; the door lock connects the box body, and the door lock locks the door body to restrict the door body from opening the delivery opening or the door lock unlocks the door body to enable the door body to open the delivery opening; the auxiliary door opening module is disposed inside the box body, and the auxiliary door opening module is used to apply an air thrust to the door body to unlock the door body from the door lock.

[0153] The auxiliary door opening module includes a power source, a pressure reducing device, a pressure regulating device, a pressure channel, a relay valve, a pressure sensor, a first air pressure sensor, and a second air pressure sensor; the power source is used to provide compressed air; the pressure reducing device is used to reduce the pressure of the air flowing through the pressure reducing device, and the air inlet of the pressure reducing device is communicated with the air outlet of the power source; the pressure regulating device is used to adjust the air pressure, the air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; the pressure channel is used to transmit air;

[0154] The air inlet of the relay valve is communicated with the air outlet of the power source and its air outlet is communicated with the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device.

[0155] The pressure sensor is disposed on the box body to detect the interaction force F0 between the door body and the box body;

[0156] The first air pressure sensor is used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure;

[0157] The second air pressure sensor is used to detect the air pressure value between the air outlet of the relay valve and the pressure passage and record the detected pressure value as the output pressure;

[0158] A controller, configured to:

[0159] Monitor the interaction force F0 between the door body and the box body;

[0160] When the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, control the pressure regulating device to increase the pressure or maintain the pressure, and the relay valve conveys air to the pressure passage to reduce the interaction force.

[0161] By setting to monitor the interaction force F0 between the door body and the box body and when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, controlling the pressure regulating device to increase the pressure or maintain the pressure, the relay valve can generate air with a certain pressure to apply force to the door body to open the door body; and by monitoring the interaction force F0 between the door body and the box body in this way to identify whether the user has an intention to open the door, and when the interaction force F0 decreases, it proves that the user has indeed made some actions on the door body, and when the interaction force F0 is less than the first preset interaction force, it proves that the user indeed has an intention to open the door. Therefore, when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, increasing the pressure or maintaining the pressure and the relay valve outputting air can avoid misjudging the user's intention to open the door and causing the door to open when it does not need to be opened, so as to improve the accuracy of judging the intention to open the door and improve the user experience.

[0162] In some embodiments of the present application, the air outlet of the power source is connected to the air inlet of the air circuit pressure control device and the air inlet of the one-way air device, the air outlet of the one-way air device is connected to the air inlet of the air storage device, the air outlet of the air storage device is connected to the air inlet of the emergency exhaust device, the air outlet of the emergency exhaust device is connected to the air inlet of the filtering device, and the air outlet of the filtering device is connected to the air inlet of the pressure reducing device and the air inlet of the relay valve.

[0163] The power source compresses air into the main air circuit, and the air pressure in the main air circuit is set by the air circuit pressure control device. The air in the main air circuit is divided into two paths after passing through the filtering device and respectively flows into the pressure reducing device and the relay valve. The set pressure P2 of the pressure reducing device is used as the air duct pressure of the pressure regulating device, and the pilot pressure is output to the relay valve pilot port through the pressure regulating device to control the output air pressure of the relay valve to be consistent with the pilot pressure.

[0164] In some embodiments of the present application, after the pressure regulating device enters the pressure increasing state, when the air pressure value detected by the first air pressure sensor is quite different from the air pressure value detected by the second air pressure device, it is prompted that the relay valve is damaged and needs to be replaced or repaired in time.

[0165] In some embodiments of the present application, if the user continuously applies force during the entire door opening process, when the interaction force F0 is detected to be 0 during the pressurization process, it indicates that the door has been opened.

[0166] If the user does not want to continuously apply force and just indicates the intention to open the dryer door, they can briefly apply force and then release it, waiting for the auxiliary door opening module to work to open the door body.

[0167] In some embodiments of the present application, referring to Figures 8 - 10 , an air inlet 121 and an air outlet 122 are provided on the drying cylinder 12. Both the air inlet 121 and the air outlet 122 are communicated with the clothing accommodation cavity. During the drying process of the dryer 100, drying airflows are generated. The drying airflows enter the clothing accommodation cavity from the air inlet 121, take away the moisture on the clothes, and are discharged from the air outlet 122. Referring to Figure 1 , in this embodiment, the air inlet 121 and the air outlet 122 are respectively arranged on the left and right sides of the drying cylinder 12, and the rotation of the drying cylinder 12 is realized by a transmission mechanism composed of a motor and a belt.

[0168] Referring to Figures 8 - 10 , an air duct plate is arranged in the cabinet 1. A drying air duct 11 is formed between the air duct plates. The drying air duct 11 is arranged between the cabinet 1 and the drying cylinder 12. Both ends of the drying air duct 11 are respectively communicated with the air inlet 121 and the air outlet 122 of the drying cylinder 12 to form a loop channel. A fan 13 is arranged in the drying air duct 11. The fan 13 is used to make the air in the drying air duct 11 flow in the direction from the air outlet 122 to the air inlet 121, so that the air in the clothing accommodation cavity enters the drying air duct 11 through the air outlet 122, and the air in the drying air duct 11 enters the clothing accommodation cavity through the air inlet 121 to realize the air circulation between the clothing accommodation cavity and the drying air duct 11. In this embodiment, the fan 13 is a centrifugal fan. The centrifugal fan is located on one side close to the air inlet 121 of the drying cylinder 12 and is driven by a motor. The drying cylinder 12 and the air duct plate are sealed by a front cylinder seal 123 and a rear cylinder seal 124.

[0169] In this embodiment, referring to Figures 8 - 10 , the drying air duct 11 includes a front air duct 111 communicated with one side of the drying cylinder 12, a rear air duct 112 communicated with the other side of the drying cylinder 12, and a lower air duct 113. The front air duct 111 and the rear air duct 112 are communicated through the lower air duct 113. The drying air duct 11 is communicated with the clothing accommodation cavity to form a loop channel. Referring to Figures 8 - 10 , wherein, the arrow direction is the air circulation direction in the loop channel.

[0170] Referring to Figures 8 - 10, a drying air duct 11 is provided with a drying device, which is used to heat the condensed drying air flow, and the heated drying air flow is introduced into the clothing accommodation cavity from the air inlet 121. The drying device is also used to condense the high-temperature and high-humidity air flow discharged from the air outlet 122, so as to condense the moisture carried in the high-temperature and high-humidity air flow to form condensed water. In this way, the cycle is realized to take away the moisture of the clothes in the clothing accommodation cavity through the drying air flow, so that the moisture on the clothes is separated from the clothes to realize the drying of the clothes.

[0171] Specifically, referring to Figures 8 - 10 , in this embodiment, the drying device is arranged in the lower air duct 113, and the drying device includes a condenser 142 and an evaporator 141. The condenser 142 is located on the side of the evaporator 141 close to the upper air inlet 121 of the drying cylinder 12. The condenser 142 is used to heat the air in the drying air duct 11 to form a high-temperature and dry drying air flow. The drying air flow passes through the rear drying air duct 11 and enters the drying cylinder 12, and then evaporates the moisture of the clothes to be dried in the drying cylinder 12 to form a high-temperature and high-humidity air flow. The high-temperature and high-humidity air flow discharged from the drying cylinder 12 contains a lot of water vapor. After passing through the front air duct 111, it contacts the evaporator 141 with a low surface temperature in the lower air duct 113 to precipitate condensed water and become a low-temperature and low-humidity air flow. The low-temperature and low-humidity air flow is further heated by the condenser 142 to form a high-temperature and dry drying air flow.

[0172] Referring to Figures 8 - 10 , the dryer 100 further includes a water storage tank for collecting the condensed water formed on the evaporator 141. In this embodiment, the water storage tank includes a first water storage tank 15 and a second water storage tank 16. The first water storage tank 15 is arranged in the lower air duct 113 and below the drying device, and the second water storage tank 16 is arranged outside the drying air duct 11 and communicated with the first water storage tank 15, so that the condensed water collected in the first water storage tank 15 enters the second water storage tank 16. By dividing the water storage tank into two and respectively located inside and outside the drying air duct 11, the volume of the water storage tank can be effectively increased, and thus the capacity of the water storage tank can be increased.

[0173] Referring to Figures 8 - 10 , in order to discharge the condensed water in the water storage tank, a drainage pump 17 is arranged in the second water storage tank 16. The drainage pump 17 is used to pump the water in the second water storage tank 16 into the water container 18 or to the outside of the box body 1.

[0174] Referring to Figures 8 - 10, a water container 18 is provided at the top of the cabinet 1. An inlet is provided at the top of the water container 18, and the inlet is connected to the drainage pump 17 through a first drain pipe 171. In this embodiment, the first drain pipe 171 extends upward from the bottom of the cabinet 1 to the top of the cabinet 1, and the first drain pipe 171 is connected to the water container 18 through the inlet to drain the condensed water in the second water storage tank 16 into the water container 18.

[0175] Reference Figures 8 - 10 , further, a water container tray 19 is also provided at the top of the cabinet 1. The water container 18 is arranged in the water container tray 19, and the water container tray 19 is communicated with the water storage tank. Specifically, an outlet is provided at the bottom of the water container tray 19. The outlet is arranged corresponding to the second water storage tank 16, and the outlet is communicated with the first water storage tank 15 through a second drain pipe 191. By providing the outlet and the second drain pipe 191, the water container tray 19 is communicated with the second water storage tank 16. When the water in the water container overflows into the water container tray 19, it will flow into the second water storage tank 16 through the second drain pipe 191 to relieve the water overflow situation of the water container.

[0176] In some embodiments of the present application, the dryer 100 may further include: a display, and the display may be a liquid crystal display or an organic light emitting diode display. The specific type, size and resolution of the display are not limited. Those skilled in the art can understand that the display can be changed in terms of performance and configuration according to needs.

[0177] The display can be used to display the control panel of the dryer 100 or the operation information of the dryer 100. The dryer displays the operation information such as the operation duration of the dryer and the drying program being run through the display.

[0178] Among them, whether to open the door body of the dryer can be operated through the control panel. When it is necessary to open, the controller controls the power source to work, the pressure regulating device increases or maintains the pressure, and the relay valve outputs air with a pilot pressure and acts on the door body to open the door body.

[0179] In some embodiments of the present application, the dryer may further include: a voice prompt device, and the voice prompt device is used to play voice prompt information according to the program. Among them, the content of the voice prompt information can be preset by the manufacturer of the dryer 100, or can be set by the user through the man-machine interaction device. Exemplarily, when the controller obtains that the clothes have met the drying end condition (when the dryer runs to the stop time), the controller can control the voice prompt device to play prompt information such as "drying completed".

[0180] The dryer may further include: a human-machine interaction device for implementing interaction between the user and the dryer. The human-machine interaction device may include one or more of physical buttons or a touch display panel. For example, the user can set the drying program that the dryer needs to run through the human-machine interaction device.

[0181] Wherein, it is possible to indicate to the dryer whether to open the door through a human-machine interaction method. When the door needs to be opened, the auxiliary door-opening module operates.

[0182] Refer to Figures 11 - 14 , in some embodiments of the present application, the controller is configured to: obtain the actual pressure value F2' through the pilot pressure or the output pressure.

[0183] Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e. Obtain the output quantity u through PID control according to the error e.

[0184] Control the energization states of the first solenoid valve and the second solenoid valve according to the magnitude of the value of the output quantity u, and control the pressure regulating device to increase pressure, maintain pressure, or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0185] In the present application, the error e is calculated through the preset pressure or the output pressure, and then the accurate output quantity u is output through PID control. The energization or de-energization of the first solenoid valve and the second solenoid valve is controlled according to the magnitude of the value of the output quantity u, and further the control of increasing pressure, maintaining pressure, or reducing pressure of the pressure regulating device of the auxiliary door-opening module is realized. The PID control logic of the present application can calculate the output quantity u more accurately, thereby accurately controlling the actions of the first solenoid valve and the second solenoid valve.

[0186] When the relay valve operates normally, the pilot pressure is equal to the output pressure. The pilot pressure detected by the first pneumatic sensor is the pressure in the pipeline between the pilot port of the relay valve and the pressure regulating device, and the output pressure detected by the second pneumatic sensor is the pressure in the pipeline between the air outlet of the relay valve and the pressure channel. Obtain the pressure in the corresponding pipeline according to the pressure and the cross-sectional area of the corresponding pipeline.

[0187] Since the pilot pressure is equal to the output pressure, the actual pressure value F2' is obtained by calculating through the pilot pressure or the output pressure. The actual pressure value F2' is the acting force actually applied by the auxiliary door-opening module to the door body.

[0188] Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e, and convert the analog signal into a digital signal through an analog-to-digital converter, that is, convert the error e into a digital signal recognizable by the controller.

[0189] The PID control includes: the controller interrupts after a preset time interval. After the controller's timed interruption, the output u(k) at this time is calculated, where u(k) is the value of the output u calculated after the k-th interruption.

[0190] The preset proportional term K p , integral term K i and derivative term K d . By operating the proportional term K p with the error e at the k-th time to obtain the proportional parameter, by operating the integral term K i with the sum of the errors e from the 1st to the k-th time to obtain the integral parameter, and by operating the derivative term K d with the difference between the error at the k-th time and the error at the (k - 1)-th time to obtain the derivative parameter. The value of the output u(k) at the k-th time is obtained by adding the proportional parameter, integral parameter, and derivative parameter.

[0191] Among them, the proportional term K p , integral term K i and derivative term K d are constants. The proportional term K p , integral term K i and derivative term K d are set to fixed values, that is, when calculating the output u, the proportional term K p , integral term K i and derivative term K d do not change with the change of the error e.

[0192] The values of the proportional term K p , integral term K i and derivative term K d can be preset by the user in the controller.

[0193] In this embodiment, by multiplying the proportional term K p with the error e at the k-th time to obtain the proportional parameter. By multiplying the integral term K i with the sum of the errors e from the 1st to the k-th time to obtain the integral parameter. By multiplying the derivative term K d with the difference between the error at the k-th time and the error at the (k - 1)-th time to obtain the derivative parameter.

[0194] In this embodiment, the formula of the PID control is expressed as follows:

[0195] u(k) = K p err(k) + K i ∑err(k) + K d (err(k) - err(k - 1))

[0196] k represents the calculation result of the k-th controller timing interruption, k ≥ 1, ∑err(k) represents the accumulated value of all errors e from the 1st to the k-th time by the computer, err(k) represents the error at the k-th time, K p 、K i 、K d are constants.

[0197] In this embodiment, the controller is configured to: after a preset time interval, according to the error e, the proportional term K p 、the integral term K i and the derivative term K d perform operations to obtain the value of the output u at the k-th time.

[0198] In this embodiment, the preset time can be set to 1 ms, that is, every 1 ms the controller has a timing interruption and calculates the result of u(k).

[0199] When the output u is greater than 0, the first solenoid valve and the second solenoid valve are energized, and the pressure regulating device increases the pressure.

[0200] The output u has a maximum value u1 and a minimum value u2. It can be set that when u1 > u > 0, the controller controls the pressure regulating device to increase the pressure first and then maintain the pressure. As the value of u becomes larger and larger, the proportion of pressure increase is larger and the proportion of pressure maintenance is smaller. That is, the larger the value of u, the larger the proportion of pressure increase and the smaller the proportion of pressure maintenance. The proportion of pressure increase and the proportion of pressure maintenance can be represented as the pressure increase duration and the pressure maintenance duration. When u = u1, the controller controls the pressure regulating device to be in a state of continuously increasing pressure.

[0201] When the output u is equal to 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains the pressure. It can be set that when the output u is approximately equal to 0, that is, it is considered that the output u is equal to 0 at this time.

[0202] When the output u is less than 0, the first solenoid valve and the second solenoid valve are de-energized, and the pressure regulating device reduces the pressure.

[0203] It can be set that when u2 < u < 0, the controller controls the pressure regulating device to reduce the pressure first and then maintain the pressure. As the value of u becomes smaller and smaller, the proportion of pressure reduction is larger and the proportion of pressure maintenance is smaller. That is, the smaller the value of u, the larger the proportion of pressure reduction and the smaller the proportion of pressure maintenance. When u = u2, the controller controls the pressure regulating device to be in a state of continuously reducing pressure.

[0204] Among them, the proportional range of the pressure reduction ratio and the pressure maintenance ratio can be specified by oneself, or the pressure reduction ratio and the pressure maintenance ratio can be controlled to change uniformly through a linear function.

[0205] In some embodiments of the present application, when the difference between the pilot pressure detected by the first pressure sensor and the output pressure detected by the second pressure sensor is greater than the preset difference, the controller prompts that the relay valve is damaged and the relay valve needs to be replaced or repaired in time.

[0206] In some embodiments of the present application, the controller is configured to: obtain the actual pressure value F2' through the pilot pressure or the output pressure. Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e. Obtain the output quantity u through PID control according to the error e. Control the energization states of the first solenoid valve and the second solenoid valve according to the positive or negative value of the output quantity u, and control the pressure regulating device to increase pressure, maintain pressure, or decrease pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0207] When the output quantity u is not 0 and is positive, the first solenoid valve and the second solenoid valve are energized, and the pressure regulating device increases pressure.

[0208] The output quantity u has a maximum value u1 and a minimum value u2. It can be set that when u1 > u > 0, the controller controls the pressure regulating device to increase pressure first and then maintain pressure. As the value of u becomes larger and larger, the proportion of pressure increase is larger and the proportion of pressure maintenance is smaller. That is, the larger the value of u, the larger the proportion of pressure increase and the smaller the proportion of pressure maintenance. The proportion of pressure increase and the proportion of pressure maintenance can be expressed as the pressure increase duration and the pressure maintenance duration. When u = u1, the controller controls the pressure regulating device to be in a pressure increasing state all the time.

[0209] When the output quantity u is equal to 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains pressure. It can be set that when the output quantity u is approximately equal to 0, it is considered that the output quantity u is equal to 0 at this time.

[0210] When the output quantity u is not 0 and is negative, the first solenoid valve and the second solenoid valve are de-energized, and the pressure regulating device decreases pressure.

[0211] It can be set that when u2 < u < 0, the controller controls the pressure regulating device to decrease pressure first and then maintain pressure. As the value of u becomes smaller and smaller, the proportion of pressure decrease is larger and the proportion of pressure maintenance is smaller. That is, the smaller the value of u, the larger the proportion of pressure decrease and the smaller the proportion of pressure maintenance. When u = u2, the controller controls the pressure regulating device to be in a pressure decreasing state all the time.

[0212] The present application calculates the error e through the preset pressure or the output pressure, and then outputs the accurate output quantity u through PID control. Controls the first solenoid valve and the second solenoid valve to be energized or de-energized according to the magnitude of the value of the output quantity u, and further realizes the control of increasing pressure, maintaining pressure, or decreasing pressure of the pressure regulating device of the auxiliary door opening module. The PID control logic of the present application can calculate the output quantity u more accurately, so as to accurately control the actions of the first solenoid valve and the second solenoid valve.

[0213] In some embodiments of the present application, when the interaction force F0 is equal to 0, it indicates that the door body has been opened at this time, or the change range of F0 is less than or equal to F 定When it indicates that the pulling force does not meet the requirements at this time, it means that the auxiliary door opening module is not required to open the door. At this time, the door opening device needs to be cleared to 0, that is, when the door state flag is equal to 0, it means that the door does not need to be opened at this time.

[0214] When the variation range of F0 is greater than F 定 At this time, it means that the auxiliary door opening module needs to be controlled to open the door, and at this time, the door opening device needs to be set to 1.

[0215] When the door does not need to be opened, the auxiliary door opening module is in a pressure relief state. When the door needs to be opened, PID control is started to control the output force to meet the preset interaction force F2.

[0216] In some embodiments of the present application, the dryer uses a single-chip microcomputer as the hardware. The single-chip microcomputer interacts with the WIFI module through UART serial communication, so as to realize two-way communication between the mobile phone side and the single-chip microcomputer. When the controller detects a relay valve failure, the controller transmits the information of the relay valve failure to the cloud and the mobile phone side through the WIFI module, so as to notify the user.

[0217] The controller can also transmit the state information of the door body being opened or closed to the cloud and the mobile phone side through the WIFI module, so that the user can view it.

[0218] The user can issue an opening flag through the mobile phone side software, transmit the opening information to the controller through the cloud and the WIFI module, and control the automatic opening of the door body through the controller.

[0219] The IO output of the single-chip microcomputer is realized through the GPIO port, and then the opening and closing of the first solenoid valve and the second solenoid valve are controlled.

[0220] The pilot pressure between the pilot port of the relay valve and the pressure regulating device is detected by the first pressure sensor, and the analog signal of the pilot pressure collected by the first pressure sensor is converted into a digital signal by the analog-to-digital converter, so as to facilitate the calculation of the error e.

[0221] The output pressure between the air outlet of the relay valve and the pressure channel is detected by the second pressure sensor, and the analog signal of the output pressure collected by the second pressure sensor is converted into a digital signal by the analog-to-digital converter, so as to facilitate the calculation of the error e.

[0222] The interaction force F0 between the door body and the box body is detected by the pressure sensor, and the interaction force F0 is converted from an analog signal to a digital signal by the analog-to-digital converter. The data acquisition of the force is completed through three-channel analog-to-digital conversion. The controller has a periodic interruption, calculates the output quantity u(k) through PID control, and finally controls the pressurization, pressure relief and pressure holding of the pressure regulating module by controlling the energization or de-energization of the first solenoid valve and the second solenoid valve, and finally pushes open the door body of the dryer through the auxiliary door opening device.

[0223] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0224] For the sake of explanation, the above description has been presented in connection with specific embodiments. However, the above exemplary discussions are not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Many modifications and variations are possible in light of the above teachings. The selection and description of the embodiments are intended to best explain the principles and practical applications, thereby enabling those skilled in the art to best utilize the embodiments and various embodiments adapted to specific uses.

Claims

1. A dryer, characterized in that, it includes: a box body including a feeding port provided on the front side of the box body; a drying cylinder provided inside the box body; a door body connected to the box body and used to open or close the feeding port; a door lock connected to the box body, the door lock locks the door body to restrict the door body from opening the feeding port or the door lock unlocks with the door body to enable the door body to open the feeding port; an auxiliary door opening module provided inside the box body, used to apply an air thrust to the door body to unlock the door body from the door lock; the auxiliary door opening module includes: a power source for providing compressed air; a pressure reducing device for reducing the pressure of the air flowing through the pressure reducing device, and an air inlet of the pressure reducing device is communicated with an air outlet of the power source; a pressure regulating device for regulating air pressure, an air inlet of the pressure regulating device is communicated with an air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; a pressure passage for transmitting air; a relay valve, an air inlet of which is communicated with an air outlet of the power source and an air outlet of which is communicated with an inlet of the pressure passage; a pilot port of the relay valve is connected to the pressure regulating device; a first air pressure sensor for detecting the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and recording the detected pressure value as the pilot pressure; a second air pressure sensor for detecting the pressure value of the air between the air outlet of the relay valve and the pressure passage and recording the detected pressure value as the output pressure; the pressure regulating device includes: a first solenoid valve, an inlet of which is connected to an outlet of the pressure reducing valve; a second solenoid valve, an inlet of which is connected to an outlet of the first solenoid valve and a pilot port of the relay valve; a controller configured to: obtain an actual pressure value F2' through the pilot pressure or the output pressure; define the difference between the preset interaction force F2 and the actual pressure value F2' as an error e; obtain an output quantity u through PID control according to the error e; control the energization states of the first solenoid valve and the second solenoid valve according to the magnitude of the value of the output quantity u, and control the pressure regulating device to increase pressure, maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

2. A dryer, characterized in that, it includes: a box body including a feeding port provided on the front side of the box body; a drying cylinder provided inside the box body; a door body connected to the box body and used to open or close the feeding port; a door lock connected to the box body, the door lock locks the door body to restrict the door body from opening the feeding port or the door lock unlocks with the door body to enable the door body to open the feeding port; an auxiliary door opening module provided inside the box body, used to apply an air thrust to the door body to unlock the door body from the door lock; the auxiliary door opening module includes: a power source for providing compressed air; a pressure reducing device for reducing the pressure of the air flowing through the pressure reducing device, and an air inlet of the pressure reducing device is communicated with an air outlet of the power source; a pressure regulating device for regulating air pressure, an air inlet of the pressure regulating device is communicated with an air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; A pressure passage for transmitting air; A relay valve, the air inlet of which is communicated with the air outlet of the power source and the air outlet of which is communicated with the inlet of the pressure passage; the pilot port of the relay valve is connected to the pressure regulating device; A first air pressure sensor for detecting the air pressure value between the pilot port of the relay valve and the pressure regulating device and recording the detected pressure value as the pilot pressure; A second air pressure sensor for detecting the air pressure value between the air outlet of the relay valve and the pressure passage and recording the detected pressure value as the output pressure; The pressure regulating device includes: A first solenoid valve, the inlet of which is connected to the outlet of the pressure reducing valve; A second solenoid valve, the inlet of which is connected to the outlet of the first solenoid valve and the pilot port of the relay valve; A controller configured to: Obtain an actual pressure value F2’ through the pilot pressure or the output pressure; Define the difference between the preset interaction force F2 and the actual pressure value F2’ as the error e; Obtain an output quantity u through PID control according to the error e; Control the energization states of the first solenoid valve and the second solenoid valve according to the positive or negative value of the output quantity u, and control the pressure regulating device to increase pressure or maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

3. The clothes dryer according to claim 1, wherein, The PID control includes: preset proportional term K p , integral term K i and derivative term K d . By operating the proportional term K p with the error e at the k-th time to obtain a proportional parameter, by operating the integral term K i with the sum of the errors e from the 1st to the k-th time to obtain an integral parameter, and by operating the derivative term K d with the difference between the error at the k-th time and the error at the (k - 1)-th time to obtain a derivative parameter; The values of the proportional parameter, the integral parameter and the differential parameter are added to obtain the value of the output quantity u(k) at the kth time.

4. The clothes dryer according to claim 3, wherein, Multiply by the proportional term K p and the error e at the k-th time to obtain the proportional parameter; Multiply by the sum of the integral term K i and the errors e from the first to the k-th time to obtain the integral parameter; Multiply by the differential term K d with the difference between the error at the k-th time and the error at the (k - 1)-th time to obtain the differential parameter.

5. The clothes dryer according to claim 3 or 4, wherein, The controller is configured to: after a preset time interval, perform an operation based on the error e, the proportional term K p , the integral term K i and the derivative term K d to obtain the value of the output u at the k-th time.

6. The clothes dryer according to claim 3 or 4, wherein, When the output quantity u is greater than 0, the first solenoid valve and the second solenoid valve are energized, and the pressure regulating device increases pressure.

7. The clothes dryer according to claim 3 or 4, wherein, When the output quantity u is equal to 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains pressure.

8. The clothes dryer according to claim 3 or 4, wherein, When the output quantity u is less than 0, the first solenoid valve and the second solenoid valve are de-energized, and the pressure regulating device reduces pressure.

9. The clothes dryer according to claim 3 or 4, wherein, The proportional term K p 、the integral term K i and the derivative term K d are set to constants, and the proportional term K p 、the integral term K i and the derivative term K d are set to fixed values.

10. The clothes dryer according to claim 1, wherein, When the difference between the pilot pressure and the output pressure is greater than a preset difference, the controller controls to issue a prompt of relay valve failure.

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