Clothes dryer

Abstract

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

Description

Technical Field

[0001] This invention relates to the field of household appliance technology, and in particular to a clothes dryer. Background Technology

[0002] A clothes dryer is a device that quickly dries wet clothes. It consists of a cabinet and a door. The cabinet has a loading port, and the door is used to open and close it. While the dryer is operating, the door must remain closed to prevent hot air from escaping, thus ensuring effective drying. After the dryer has finished drying, the user needs to open the door to remove the clothes. Because the drying process ensures optimal drying, the door is usually quite secure and requires considerable pulling force to open.

[0003] Currently, dryer door switches typically use either mechanical or electronic switches. When the door switch is mechanical, the user needs to apply a certain amount of force to pull the switch. When the door switch is electronic, it includes a sensor and control circuitry. When the user approaches the dryer, the sensor detects the user's presence and automatically opens the door via mechanical transmission.

[0004] However, when the door switch is mechanical, it requires a certain amount of arm strength from the user. For people with poor arm strength, opening the door can be difficult. Furthermore, since the amount of pulling force needs to be estimated by the user, too little or too much force can cause discomfort, resulting in a poor experience for users who seek a smooth experience.

[0005] When the door switch is an electronic switch, its control algorithm has problems such as complexity, high consumption of microcontroller resources, and inaccurate calculation logic.

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

[0007] This invention aims to at least partially solve one of the technical problems in the related art. Therefore,

[0008] According to an embodiment of this disclosure, a clothes dryer is provided, comprising:

[0009] The container includes a dispensing port located on the front side of the container;

[0010] A drying cylinder is disposed inside the box;

[0011] A door, connected to the box body and used to open or close the delivery port;

[0012] A door lock is connected to the housing, which locks the door to prevent the door from opening the delivery port, or the door lock is unlocked to allow the door to open the delivery port.

[0013] An auxiliary door opening module, located inside the housing, is used to apply air thrust to the door to unlock it from the lock; the auxiliary door opening module includes:

[0014] Power source, used to provide compressed air;

[0015] A pressure reducing device is used to reduce the pressure of the air flowing through it, wherein the air inlet of the pressure reducing device is connected to the air outlet of the power source;

[0016] A pressure regulating device is used to regulate air pressure. The air inlet of the pressure regulating device is connected to the air outlet of the pressure reducing device. The pressure regulating device outputs pilot pressure.

[0017] Pressure channel, used for air transmission;

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

[0019] The first air pressure sensor is used to detect the air pressure between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure.

[0020] The second air pressure sensor is used to detect the air pressure between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure.

[0021] The voltage regulating device includes:

[0022] The first solenoid valve has its inlet connected to the outlet of the pressure reducing valve;

[0023] The inlet of the second solenoid valve is connected to the outlet of the first solenoid valve and the pilot port of the relay valve.

[0024] The controller is configured as follows:

[0025] The actual pressure value F2' is obtained by using the pilot pressure or the output pressure;

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

[0027] The output quantity u is obtained by using PID control based on the error e.

[0028] The energizing state of the first and second solenoid valves is controlled according to the value of the output quantity u. The energizing state of the first and second solenoid valves is used to control the pressure regulating device to increase, maintain, or reduce pressure.

[0029] This application uses PID control to detect and calculate the error e, and then outputs an accurate output quantity u. By controlling the value of the output quantity u, the first and second solenoid valves are energized or de-energized, thereby realizing the control of the pressure regulating device of the auxiliary door opening module to increase, maintain, or reduce pressure. The PID control logic of this application can more accurately control the operation of the first and second solenoid valves.

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

[0031] The container includes a dispensing port located on the front side of the container;

[0032] A drying cylinder is disposed inside the box;

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

[0034] A door lock is connected to the housing, which locks the door to prevent the door from opening the delivery port, or the door lock is unlocked to allow the door to open the delivery port.

[0035] An auxiliary door opening module, located inside the housing, is used to apply air thrust to the door to unlock it from the lock; the auxiliary door opening module includes:

[0036] Power source, used to provide compressed air;

[0037] A pressure reducing device is used to reduce the pressure of the air flowing through it, wherein the air inlet of the pressure reducing device is connected to the air outlet of the power source;

[0038] A pressure regulating device is used to regulate air pressure. The air inlet of the pressure regulating device is connected to the air outlet of the pressure reducing device. The pressure regulating device outputs pilot pressure.

[0039] Pressure channel, used for air transmission;

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

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

[0042] The second air pressure sensor is used to detect the air pressure between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure.

[0043] The voltage regulating device includes:

[0044] The first solenoid valve has its inlet connected to the outlet of the pressure reducing valve;

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

[0046] The controller is configured as follows:

[0047] The actual pressure value F2' is obtained by using the pilot pressure or the output pressure;

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

[0049] The output quantity u is obtained by using PID control based on the error e.

[0050] The energizing state of the first and second solenoid valves is controlled according to the positive or negative value of the output quantity u. The energizing state of the first and second solenoid valves is used to control the pressure regulating device to increase, maintain, or reduce pressure.

[0051] In some embodiments of this application, the PID control includes: a preset proportional term K p Integral term K i and differential term K d Through the proportional term K p The proportional parameter is obtained by calculating the error e from the kth iteration, and then integrated using the integral term K. i The integral parameter is obtained by summing the errors e from the 1st to the kth iterations, and then processed through the differential term K. d The differential parameter is obtained by calculating the difference between the error of the kth iteration and the error of the (k-1)th iteration.

[0052] The value of the output quantity u(k) for the kth iteration is obtained by adding the proportional parameter, the integral parameter and the differential parameter.

[0053] In some embodiments of this application, the ratio term K is used. p Multiply by the error e of the kth iteration to obtain the proportional parameter;

[0054] Through the integral term K i The integral parameter is obtained by multiplying the sum of the errors e from the 1st to the kth iterations.

[0055] Through the differential term K d The differential parameter is obtained by multiplying the difference between the error of the kth time and the error of the (k-1)th time.

[0056] In some embodiments of this application, the controller is configured to: after a preset time interval, calculate based on the error e and the proportional term K. p Integral term Ki and differential term K d Perform the calculation to obtain the value of the output quantity u for the kth time.

[0057] In some embodiments of this 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 this application, when the output u equals 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains pressure.

[0059] In some embodiments of this 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 this application, the ratio term K p The integral term K i and the differential term K d The proportional term K is set as a constant. p The integral term K i and the differential term K d Set to a fixed value.

[0061] In some embodiments of this application, when the difference between the pilot pressure and the output pressure is greater than a preset difference, the controller issues a relay valve fault warning. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a structural diagram of the auxiliary door opening module according to an embodiment of the present invention;

[0064] Figure 2 This is another structural diagram of the auxiliary door opening module according to an embodiment of the present invention;

[0065] Figure 3 This is another structural diagram of the auxiliary door opening module according to an embodiment of the present invention;

[0066] Figure 4 This is another structural diagram of the auxiliary door opening module according to an embodiment of the present invention;

[0067] Figure 5 This is a front view of the clothes dryer according to an embodiment of the present invention;

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

[0069] Figure 7 This is a schematic diagram illustrating the principle of door opening according to an embodiment of the present invention;

[0070] Figure 8 This is a schematic diagram of the structure of the clothes dryer according to an embodiment of the present invention;

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

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

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

[0074] Figure 12 This is a diagram illustrating the information transmission between the mobile app and the dryer via a WIFI module according to an embodiment of the present invention.

[0075] Figure 13 This is a flowchart of the PID control algorithm for the auxiliary door opening module in an embodiment of the present invention;

[0076] Figure 14 This is a flowchart of the PID control algorithm for the auxiliary door opening module in an embodiment of the present invention.

[0077] The following figures:

[0078] Dryer 100; Cabinet 1; Drying air duct 11; Front air duct 111; Rear air duct 112; Lower air duct 113; Drying drum 12; Air inlet 121; Air outlet 122; Front seal 123; Rear seal 124; Clothes receiving cavity 125; Motor 126; Belt 127; Fan 13; Evaporator 141; Condenser 142; First water tank 15; Second water tank 16; Drain 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 controller 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 pressure control device 473; one-way ventilation device 474; emergency exhaust device 475; backup air source device 476; filter device 477; door body 5; door handle 51. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0080] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0081] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0082] The terms "connection," "linked," and "coupled" used in this application are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Multiple" in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of objects.

[0083] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0084] Reference Figures 1-10The dryer 100 includes a housing 1, wherein the bottom to the top of the housing 1 is the height direction of the housing.

[0085] refer to Figures 5-6 and Figures 8-10 The housing 1 forms the exterior of the dryer 100, and the housing 1 has a storage space for accommodating and fixing various components in the dryer 100 to ensure the structural stability of the dryer 100.

[0086] The container 1 includes a dispensing port (not shown), which is located on the front side of the container 1.

[0087] The dryer also includes a drying drum 12, which is disposed inside the housing 1, wherein the drying drum 12 is rotatably disposed inside the housing 1.

[0088] Specifically, the cabinet includes a placement space inside the cabinet, wherein the drying cylinder is located within the placement space.

[0089] The drying cylinder includes a drying port (not shown) located at the side end of the drying cylinder, wherein the drying port is located on the side of the drying cylinder near the inlet, and the drying port is arranged opposite to the inlet.

[0090] The drying drum 12 has a clothing receiving cavity, which is connected to the drying outlet. Clothes can be placed in the clothing receiving cavity through the loading port and the drying outlet. The clothing receiving cavity is used to hold the clothes to be dried so that they can be dried in the clothing receiving cavity.

[0091] The dryer also includes a door 5, which is connected to the housing and is used to open or close the loading port. The door 5 is located on one side of the drying drum 12, and clothes are put in or taken out by opening and closing the door 5, thus realizing the loading and unloading of clothes in the clothes receiving cavity.

[0092] The dryer also includes a door lock, which is connected to the cabinet. The door lock can lock the door to prevent the door from opening the loading port, or unlock the door to allow the loading port to be opened.

[0093] Currently, opening the door of a dryer requires a certain amount of arm strength from the user, which can be difficult for people with limited arm strength. Furthermore, because the amount of pulling force needs to be estimated by the user, too little or too much force can cause discomfort, resulting in a poor experience for users who prefer a smooth operation. Alternatively, the dryer may frequently misinterpret the user's intention to open the door, causing it to open unnecessarily.

[0094] Therefore, the dryer also includes an auxiliary door opening module 4, which is located inside the cabinet and is used to apply air thrust to the door to unlock the door from the lock.

[0095] refer to Figure 1 The auxiliary door opening module 4 includes a power source 41, which is used to provide compressed air.

[0096] refer to Figure 1 The auxiliary door opening module 4 also includes a pressure reducing device 42, which is used to reduce the pressure of the air flowing through the pressure reducing device. The air inlet of the pressure reducing device is connected to 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 air.

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

[0098] refer to Figure 1 The maximum pressure of the pressure regulating device is adjusted by the pressure reducing device 42.

[0099] refer to Figure 1 The auxiliary door opening module 4 also includes a pressure channel 44, which is used to transmit air.

[0100] refer to Figure 1 The auxiliary door opening module 4 also includes a relay valve 45, wherein the air inlet of the relay valve 45 is connected to the air outlet of the power source, and the air outlet of the relay valve 45 is connected to 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, the relay valve amplifies the flow according to the pilot pressure and outputs driving air into the pressure channel, and the pressure of the driving air is the same as the pilot pressure.

[0101] When the door and lock are locked, the outlet of the pressure channel is opposite to the door and applies force to the door by driving air to unlock the door and lock.

[0102] The dryer is equipped with an auxiliary door opening module, which includes a power source, pressure reducing device, pressure regulating device, relay valve, and pressure channel. It can generate air pressure to apply force to the door, making the door open. The auxiliary door opening module can assist in opening the door, solving the problem of difficulty in opening the door due to insufficient arm strength, as well as the problem of uneven opening caused by the user's inaccurate estimation of the opening force. The air transmission has high stability and uniform and smooth force output, which can extend the service life of the door lock and provide users with a smooth door opening experience.

[0103] In some embodiments of this application, the power source may be a pump body, wherein the power source may be a small pump.

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

[0105] In some embodiments of this application, reference is made to Figures 5-6 The auxiliary switch module also includes a pressure sensor 46, which is located on the housing and is used to detect the interaction force F0 between the door and the housing.

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

[0107] The first air pressure sensor is used to detect the air pressure 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] The second air pressure sensor 472 is used to detect the air pressure between the air outlet of the relay valve and the pressure channel, 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 channel is the output flow path.

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

[0111] The dryer also includes a controller (not shown), which is configured to:

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

[0113] When the interaction force F0 decreases and is less than the first preset interaction force, the pressure regulating device is controlled to increase the pilot pressure or the pressure regulating device is controlled to maintain the pilot pressure. The relay valve supplies air to the pressure channel to reduce the interaction force. When the interaction force decreases to 0, the door and the door lock are unlocked.

[0114] By monitoring the interaction force F0 between the door and the housing, and controlling the pressure regulating device to increase or maintain pressure when the interaction force F0 decreases and is less than a first preset interaction force, the relay valve can generate air at a certain pressure to apply force to the door, causing it to open. Furthermore, by monitoring the interaction force F0 between the door and the housing, the system identifies whether the user intends to open the door. A decrease in interaction force F0 indicates that the user has indeed made some movement towards the door, and a decrease in interaction force F0 indicates that the user has indeed intended to open the door. Therefore, increasing or maintaining pressure when the interaction force F0 decreases and is less than the first preset interaction force, and outputting air from the relay valve, can prevent misjudgments of the user's intention to open the door, thus avoiding the door opening unnecessarily. This improves the accuracy of the intention to open the door and enhances the user experience.

[0115] It should be noted that a controller is a device that can generate operation control signals based on instruction opcodes and timing signals, instructing the dryer 100 to execute control instructions. For example, the controller can be a central processing unit (CPU), 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; this application does not impose any limitations on this.

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

[0117] When the interaction force F0 decreases and is less than the first preset interaction force, the current pilot pressure of the air in the pilot flow path is obtained, and it is determined whether the current pilot pressure has reached the first pilot pressure P1. If the current pilot pressure has not reached the first pilot pressure P1, the pressure regulating device is controlled to increase the pressure to increase the pilot pressure. If the current pilot pressure reaches the first pilot pressure P1, the pressure regulating device is controlled to maintain the pressure so that the pilot pressure remains unchanged.

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

[0119] When the current pilot pressure has not reached the first pilot pressure P1, the pressure regulating device is controlled to increase the pilot pressure of the air in the pilot flow path. The pilot pressure increases to the target pilot pressure P0 and then stops increasing.

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

[0121] In some embodiments of this application, when the interaction force is reduced to 0, the pressure regulating device reduces the pressure, and the auxiliary door opening module no longer exerts a pushing force on the door.

[0122] In some embodiments of this application, reference is made 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 is maintaining pressure, the first solenoid valve is de-energized and the second solenoid valve is energized.

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

[0128] The attached diagram shows the first and second solenoid valves in a de-energized state.

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

[0130] When the first solenoid valve is energized, it is connected; when the first solenoid valve is de-energized, it is disconnected. When the second solenoid valve is de-energized, it is connected; when the second solenoid valve is energized, it is disconnected.

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

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

[0133] In some embodiments of this application, reference is made to Figure 2 The pressure regulating device also includes a flow regulator 433, wherein the inlet of the flow regulator is connected to the pressure reducing device, and the flow regulator 433 is used to control the flow in 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, the regulation of the flow path between the pressure regulating device and the pilot port of the relay valve is for the purpose of regulating the output flow of the relay valve.

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

[0135] In some embodiments of this application, reference is made to Figure 3 and Figure 4 The auxiliary door opening module also includes an air pressure control device 473. The inlet of the air pressure control device 473 is connected to the air outlet of the power source. The air pressure control device 473 is used to control the air pressure in 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 air pressure control device 473 is an overflow valve, wherein 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 this application, reference is made to Figure 3 and Figure 4The auxiliary door opening module also includes a one-way air device 474, which is used to prevent 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 this application, reference is made to Figure 3 and Figure 4 The auxiliary door opening module also includes an emergency ventilation device 475, which is used to cut off the air flow path between the power source, the pressure reducing device, and the relay valve.

[0140] In the event of a malfunction in the air circuit that causes air to continuously push the door, the emergency exhaust device 475 can be used to cut off the air circuit and simultaneously vent the air away from the power source side of the emergency exhaust device 475.

[0141] Among them, the emergency ventilation device 475 can be a shut-off valve.

[0142] In some embodiments of this application, reference is made to Figure 3 and Figure 4 The auxiliary door opening module also includes a filter device 477, which is connected to the air inlet of the pressure regulating device and the air inlet of the relay valve on the side near the power source. The filter device is used to filter impurities in the air, ensuring the purity of the gas.

[0143] The filtration device can be a filter.

[0144] In some embodiments of this application, reference is made to Figure 3 and Figure 4 The auxiliary door opening module also includes a backup air source device 476. When the power source fails, the backup air source device can replace the power source pump for a period of time, improving the device's durability and making up for the gap before after-sales service arrives.

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

[0146] In some embodiments of this application, the pressure channel may be a single channel, with the inlet of the pressure tank connected to the air outlet of the relay valve, and the outlet of the pressure channel opposite to the door when the door closes the dispensing port.

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

[0148] The pressure channel also includes at least two auxiliary pressure channels 442, one end of each of the two auxiliary pressure channels is connected to the outlet of the main pressure channel, and the outlets of the two auxiliary pressure channels correspond to different positions of the door body.

[0149] In some embodiments of this application, reference is made to Figure 5 and Figure 6 The door body includes a door handle 51, wherein a pressure sensor is located on one side of the door handle. When the door body closes the delivery port, the outlet of the pressure channel is located on one side of the door handle, corresponding to the position of the door body.

[0150] In some embodiments of this application, the number of pressure sensors is the same as the number of auxiliary pressure channels. The pressure sensors correspond one-to-one with the auxiliary pressure channels. That is, the pressure sensors are located on one side of the outlet of the auxiliary pressure channel. Furthermore, the distance between each pressure sensor and its corresponding outlet of the auxiliary pressure channel is equal or the difference between two adjacent distances is within a certain range, ensuring the stability of the values ​​detected by the pressure sensors.

[0151] Here, the interaction force is the interaction force corresponding to the average value detected by the pressure sensor.

[0152] In some embodiments of this application, the housing includes a dispensing port located on the front side of the housing; a door is connected to the housing and used to open or close the dispensing port; a door lock connects the housing, and the door lock locks the door to restrict the door from opening the dispensing port or the door lock and the door are unlocked to allow the door to open the dispensing port; an auxiliary door opening module is located inside the housing, and the auxiliary door opening module is used to apply air thrust to the door to unlock the door and 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 provides compressed air. The pressure reducing device reduces the pressure of the air flowing through it, and the air inlet of the pressure reducing device is connected to the air outlet of the power source. The pressure regulating device adjusts the air pressure, and its air inlet is connected to the air outlet of the pressure reducing device. 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 connected to the air outlet of the power source, and its air outlet is connected to the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device.

[0155] A pressure sensor is installed on the housing to detect the interaction force F0 between the door and the housing;

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

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

[0158] The controller is configured as follows:

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

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

[0161] By monitoring the interaction force F0 between the door and the housing, and controlling the pressure regulating device to increase or maintain pressure when the interaction force F0 decreases and is less than a first preset interaction force, the relay valve can generate air at a certain pressure to apply force to the door, causing it to open. Furthermore, by monitoring the interaction force F0 between the door and the housing, the system identifies whether the user intends to open the door. A decrease in interaction force F0 indicates that the user has indeed made some movement towards the door, and a decrease in interaction force F0 indicates that the user has indeed intended to open the door. Therefore, increasing or maintaining pressure when the interaction force F0 decreases and is less than the first preset interaction force, and outputting air from the relay valve, can prevent misjudgments of the user's intention to open the door, thus avoiding the door opening unnecessarily. This improves the accuracy of the intention to open the door and enhances the user experience.

[0162] In some embodiments of this application, the air outlet of the power source is connected to the air inlet of the air 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 filter device; and the air outlet of the filter 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. After passing through the filter, the air in the main air circuit is divided into two paths, flowing into the pressure reducing device and the relay valve respectively. The set pressure P2 of the pressure reducing device is used as the air duct pressure of the pressure regulating device. The pressure regulating device outputs the pilot pressure to the pilot port of the relay valve, controlling the output air pressure of the relay valve to be consistent with the pilot pressure.

[0164] In some embodiments of this application, when the pressure value detected by the first pressure sensor differs significantly from the pressure value detected by the second pressure device after the pressure regulating device enters the pressurization state, it indicates that the relay valve is damaged and needs to be replaced or repaired in time.

[0165] In some embodiments of this application, if the user applies continuous force throughout the door opening process, and 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 exert continuous force and simply wants to signal the dryer to open the door, they can apply force briefly and then release, waiting for the door opening assist module to work and open the door.

[0167] In some embodiments of this application, reference is made to Figures 8-10 The drying drum 12 is equipped with an air inlet 121 and an air outlet 122, both of which are connected to the clothes receiving cavity. During the drying process, the dryer 100 generates a drying airflow. This airflow enters the clothes receiving cavity through the air inlet 121, carries away moisture from the clothes, and exits through the air outlet 122. (Reference) Figure 1 In this embodiment, the air inlet 121 and the air outlet 122 are respectively located on the left and right sides of the drying cylinder 12, and the rotation of the drying cylinder 12 is achieved by a transmission mechanism consisting of a motor and a belt.

[0168] refer to Figures 8-10 The housing 1 contains air duct plates forming a drying air duct 11. The drying air duct 11 is located between the housing 1 and the drying drum 12. Both ends of the drying air duct 11 are connected to the air inlet 121 and air outlet 122 of the drying drum 12, respectively, forming a loop channel. A fan 13 is installed inside the drying air duct 11. The fan 13 directs air flow from the air outlet 122 to the air inlet 121, allowing air from the clothing storage cavity to enter the drying air duct 11 through the air outlet 122 and then enter the clothing storage cavity through the air inlet 121, thus achieving air circulation between the clothing storage cavity and the drying air duct 11. In this embodiment, the fan 13 is a centrifugal fan, located near the air inlet 121 of the drying drum 12 and driven by a motor. The drying drum 12 and the air duct plates are sealed by a front seal 123 and a rear seal 124.

[0169] In this embodiment, reference Figures 8-10 The drying air duct 11 includes a front air duct 111 connected to one side of the drying drum 12, a rear air duct 112 connected to the other side of the drying drum 12, and a lower air duct 113. The front air duct 111 and the rear air duct 112 are connected through the lower air duct 113. The drying air duct 11 is connected to the clothes receiving cavity to form a loop channel. (Reference) Figures 8-10 The arrow indicates the direction of air circulation within the loop channel.

[0170] refer to Figures 8-10A drying device is installed inside the drying air duct 11. This device heats the condensed drying airflow, which is then introduced into the clothing receiving cavity through the air inlet 121. The drying device also condenses the high-temperature, high-humidity airflow exiting through the air outlet 122, removing moisture to form condensate. This cycle repeats, allowing the drying airflow to remove moisture from the clothes in the clothing receiving cavity, thus separating the moisture from the clothes and achieving the desired drying effect.

[0171] Specifically, reference Figures 8-10 In this embodiment, the drying device is located 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 near the air inlet 121 on the drying cylinder 12. The condenser 142 is used to heat the air in the drying air duct 11 to form a high-temperature drying airflow. After passing through the drying air duct 11, the drying airflow enters the drying cylinder 12 and evaporates the moisture of the clothes to be dried in the drying cylinder 12 to form a high-temperature and high-humidity airflow. The high-temperature and high-humidity airflow exiting the drying cylinder 12 carries a lot of water vapor. After passing through the front air duct 111, it comes into contact with the low-temperature surface of the evaporator 141 in the lower air duct 113 and condenses water, becoming a low-temperature and low-humidity airflow. The low-temperature and low-humidity airflow is further heated by the condenser 142 to form a high-temperature drying airflow.

[0172] refer to Figures 8-10 The dryer 100 also includes a water storage tank for collecting condensate 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 disposed within the lower air duct 113 and located below the drying device, while the second water storage tank 16 is disposed outside the drying air duct 11 and connected to the first water storage tank 15, so that the condensate collected in the first water storage tank 15 enters the second water storage tank 16. By dividing the water storage tank into two and placing them inside and outside the drying air duct 11 respectively, the volume of the water storage tank can be effectively increased, thereby increasing the capacity of the water storage tank.

[0173] refer to Figures 8-10 In order to drain the condensate in the water storage tank, a drain pump 17 is installed in the second water storage tank 16. The drain pump 17 is used to draw water from the second water storage tank 16 into the water container 18 or to the outside of the tank 1.

[0174] refer to Figures 8-10The top of the housing 1 is provided with a water container 18, and the top of the water container 18 is provided with a water inlet. The water inlet is connected to the drain pump 17 through a first drain pipe 171. In this embodiment, the first drain pipe 171 extends from the bottom of the housing 1 upward to the top of the housing 1. The first drain pipe 171 is connected to the water container 18 through the water inlet, so as to drain the condensate in the second water storage tank 16 into the water container 18.

[0175] refer to Figures 8-10 Furthermore, a water container tray 19 is provided on the top of the housing 1, and a water container 18 is placed inside the water container tray 19. The water container tray 19 is connected to the water storage tank. Specifically, a water outlet is provided at the bottom of the water container tray 19, which is correspondingly provided to the second water storage tank 16. The water outlet is connected to the first water storage tank 15 through a second drain pipe 191. The water container tray 19 and the second water storage tank 16 are connected by the water outlet and the second drain pipe 191. When too much water overflows from the water container into the water container tray 19, it will flow into the second water storage tank 16 through the second drain pipe 191 to alleviate the overflow situation.

[0176] In some embodiments of this application, the dryer 100 may further include a display, which 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, and those skilled in the art will understand that the display can be modified in terms of performance and configuration as needed.

[0177] The display can be used to show the control panel of the dryer 100 or the operating information of the dryer 100. The dryer displays operating information such as the running time and the currently running drying program through the display.

[0178] The control panel allows users to decide whether to open the dryer door. When the door needs to be opened, the controller activates the power source, the pressure regulating device increases or maintains pressure, and the relay valve outputs pilot-pressure air that acts on the door, causing it to open.

[0179] In some embodiments of this application, the dryer may further include a voice prompt device for playing voice prompt information according to a program. The content of the voice prompt information may be pre-set by the dryer manufacturer or set by the user through a human-computer interaction device. For example, when the controller detects that the clothes have met the drying end conditions (when the dryer has reached its stop time), the controller may control the voice prompt device to play a prompt message such as "Drying complete".

[0180] The dryer may also include a human-machine interface device (HMI), which enables interaction between the user and the dryer. The HMI may include one or more physical buttons or a touch-screen display panel. For example, the user can use the HMI to set the drying program the dryer should run.

[0181] Among them, the user can indicate to the dryer whether the door needs to be opened through human-computer interaction, and when the door needs to be opened, the door opening module will work.

[0182] Reference Figures 11-14 In some embodiments of this application, the controller is configured to obtain the actual pressure value F2' by means of pilot pressure or output pressure.

[0183] The difference between the preset interaction force F2 and the actual pressure value F2' is defined as the error e. The output quantity u is obtained through PID control based on the error e.

[0184] The energizing state of the first and second solenoid valves is controlled according to the value of the output quantity u. The energizing state of the first and second solenoid valves is used to control the pressure regulating device to increase, maintain, or reduce pressure.

[0185] This application calculates the error e by preset pressure or output pressure, and then outputs an accurate output quantity u by PID control. By controlling the value of the output quantity u, the first and second solenoid valves are energized or de-energized, thereby realizing the control of pressure increase, pressure holding or pressure reduction of the pressure regulating device of the auxiliary door opening module. The PID control logic of this application can calculate the output quantity u more accurately, thereby precisely controlling the action of the first and second solenoid valves.

[0186] When the relay valve is operating normally, the pilot pressure equals the output pressure. The pilot pressure detected by the first pressure 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 pressure sensor is the pressure in the pipeline between the air outlet of the relay valve and the pressure channel. The pressure in the corresponding pipeline is obtained based on the pressure and the corresponding pipeline cross-sectional area.

[0187] Since the pilot pressure equals the output pressure, the actual pressure value F2' is calculated using either the pilot pressure or the output pressure. The actual pressure value F2' is the force actually applied to the door body by the auxiliary door opening module.

[0188] The difference between the preset interaction force F2 and the actual pressure value F2' is defined as the error e. The analog signal is converted into a digital signal by an analog-to-digital converter, that is, the error e is converted into a digital signal that the controller can recognize.

[0189] PID control includes: the controller is interrupted after a preset control interval. After the controller is interrupted, the output quantity u(k) is calculated. u(k) is the value of the output quantity u calculated after the kth interruption.

[0190] Preset ratio item K p Integral term K i and differential term K d Through the proportional term K p The proportional parameter is obtained by calculating the error e from the kth iteration, and then integrated using the integral term K. i The integral parameter is obtained by summing the errors e from the 1st to the kth iterations, and then processed through the differential term K. d The differential parameter is obtained by calculating the difference between the error of the kth iteration and the error of the (k-1)th iteration. The value of the output quantity u(k) of the kth iteration is obtained by adding the proportional parameter, integral parameter and differential parameter together.

[0191] Among them, the proportional term K p Integral term K i and differential term K d It is a constant, the proportional term K p Integral term K i and differential term K d Set to a fixed value, that is, when calculating the output quantity u, the proportional term K p Integral term K i and differential term K d It does not change with the change of error e.

[0192] proportional term K p Integral term K i and differential term K d The value can be preset in the controller by the user.

[0193] In this embodiment, the proportional term K is used. p Multiply by the error e of the kth iteration to obtain the proportional parameter. This is achieved through the integral term K. i The integral parameter is obtained by multiplying the sum of the errors e from the 1st to the kth iterations. This is then obtained through the differential term K. d The differential parameter is obtained by multiplying the difference between the error of the kth time and the error of the (k-1)th time.

[0194] In this embodiment, the formula for 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 controller's timer interrupt k-th time, k≥1, ∑err(k) represents the accumulated value of all errors e from the 1st to the kth time, err(k) represents the error of the k-th time, K p K i K d It is a constant.

[0197] In this embodiment, the controller is configured to: after a preset time interval, calculate based on the error e and the proportional term K. p Integral term K i and differential term K d Perform the calculation to obtain the value of the output quantity u for the kth time.

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

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

[0200] The output quantity u has a maximum value u1 and a minimum value u2. It can be set so that when u1 > u > 0, the controller controls the voltage regulator to first increase pressure and then maintain pressure. As the value of u increases, the proportion of pressure increase becomes larger, and the proportion of pressure maintenance becomes 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, respectively. When u = u1, the controller controls the voltage regulator to remain in the pressure increase state.

[0201] When the output u equals 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 so that when the output u is approximately equal to 0, the output u is considered to be equal to 0 at this point.

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

[0203] The controller can be configured to first reduce pressure and then maintain pressure when u2 < u < 0. As the value of u decreases, the proportion of pressure reduction increases and the proportion of pressure maintenance decreases. In other words, the smaller the value of u, the greater the proportion of pressure reduction and the smaller the proportion of pressure maintenance. When u = u2, the controller keeps the voltage regulator in a pressure-reducing state.

[0204] The range of the pressure reduction ratio and the pressure holding ratio can be defined by the user, or the pressure reduction ratio and the pressure holding ratio can be controlled to change uniformly by a linear function.

[0205] In some embodiments of this 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 a preset difference, the controller indicates that the relay valve is damaged and needs to be replaced or repaired in time.

[0206] In some embodiments of this application, the controller is configured to obtain an actual pressure value F2' using pilot pressure or output pressure. The difference between the preset interaction force F2 and the actual pressure value F2' is defined as error e. Based on error e, PID control is used to obtain an output quantity u. The energizing state of the first and second solenoid valves is controlled according to the sign of the output quantity u, thereby controlling the pressure regulating device to increase, maintain, or decrease pressure.

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

[0208] The output quantity u has a maximum value u1 and a minimum value u2. It can be set so that when u1 > u > 0, the controller controls the voltage regulator to first increase pressure and then maintain pressure. As the value of u increases, the proportion of pressure increase becomes larger, and the proportion of pressure maintenance becomes 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, respectively. When u = u1, the controller controls the voltage regulator to remain in the pressure increase state.

[0209] When the output u equals 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 so that when the output u is approximately equal to 0, the output u is considered to be equal to 0 at this point.

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

[0211] The controller can be configured to first reduce pressure and then maintain pressure when u2 < u < 0. As the value of u decreases, the proportion of pressure reduction increases and the proportion of pressure maintenance decreases. In other words, the smaller the value of u, the greater the proportion of pressure reduction and the smaller the proportion of pressure maintenance. When u = u2, the controller keeps the voltage regulator in a pressure-reducing state.

[0212] This application calculates the error e by preset pressure or output pressure, and then outputs an accurate output quantity u by PID control. By controlling the value of the output quantity u, the first and second solenoid valves are energized or de-energized, thereby realizing the control of pressure increase, pressure holding or pressure reduction of the pressure regulating device of the auxiliary door opening module. The PID control logic of this application can calculate the output quantity u more accurately, thereby precisely controlling the action of the first and second solenoid valves.

[0213] In some embodiments of this application, when the interaction force F0 equals 0, it indicates that the door is open, or the range of F0 is less than or equal to F. 定When the door status flag is 0, it means that the pulling force does not meet the requirements, which means that the auxiliary door opening module is not needed to open the door. At this time, the door opening device needs to be cleared to 0. That is, when the door status flag is equal to 0, it means that the door does not need to be opened.

[0214] When the range of F0 is greater than F 定 When this occurs, it means that the auxiliary door opening module needs to be controlled to open the door, and 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 decompression state. When the door needs to be opened, PID control is activated to control the output force to meet the preset interaction force F2.

[0216] In some embodiments of this application, the dryer uses a microcontroller as hardware. The microcontroller interacts with the WIFI module via UART serial communication, thereby enabling bidirectional communication between the mobile phone and the microcontroller. When the controller detects a relay valve fault, it transmits the fault information to the cloud and the mobile phone via the WIFI module to notify the user.

[0217] The controller can also transmit the door's opening or closing status information to the cloud and mobile devices via the WIFI module, so that users can view it.

[0218] Users can send an opening signal via mobile software, and the opening information is transmitted to the controller via the cloud and WIFI module, so that the controller can control the automatic opening of the door.

[0219] The microcontroller's I / O output is achieved through the GPIO port, thereby controlling the opening and closing of the first and second solenoid valves.

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

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

[0222] The interaction force F0 between the door and the housing is detected by a pressure sensor and converted from an analog signal to a digital signal by an analog-to-digital converter. Force data acquisition is completed through three-channel analog-to-digital conversion. The controller interrupts periodically and calculates the output u(k) using PID control. Finally, the pressure regulating module controls the pressurization, depressurization, and pressure maintenance by energizing or de-energizing the first and second solenoid valves. Ultimately, the door of the dryer is opened via an auxiliary door opening device.

[0223] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0224] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

Claims

1. A clothes dryer, characterized in that, include: The container includes a dispensing port located on the front side of the container; A drying cylinder is disposed inside the box; A door, connected to the box body and used to open or close the delivery port; A door lock is connected to the housing, which locks the door to prevent the door from opening the delivery port, or the door lock is unlocked to allow the door to open the delivery port. An auxiliary door opening module, located inside the housing, is used to apply air thrust to the door to unlock it from the lock; the auxiliary door opening module includes: Power source, used to provide compressed air; A pressure reducing device is used to reduce the pressure of the air flowing through it, wherein the air inlet of the pressure reducing device is connected to the air outlet of the power source; the pressure reducing device is a pressure reducing valve. A pressure regulating device is used to regulate air pressure. The air inlet of the pressure regulating device is connected to the air outlet of the pressure reducing device. The pressure regulating device outputs pilot pressure. Pressure channel, used for air transmission; A relay valve, the air inlet of which is connected to the air outlet of the power source and the air outlet of which is connected to the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device. The first air pressure sensor is used to detect the air pressure between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure. The second air pressure sensor is used to detect the air pressure between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure. The voltage regulating device includes: The first solenoid valve has its inlet connected to the outlet of the pressure reducing valve; The inlet of the second solenoid valve is connected to the outlet of the first solenoid valve and the pilot port of the relay valve. The controller is configured as follows: The actual pressure value F2' is obtained by using the pilot pressure or the output pressure; The difference between the preset interaction force F2 and the actual pressure value F2' is defined as the error e; The output quantity u is obtained by using PID control based on the error e. The energizing state of the first and second solenoid valves is controlled according to the value of the output quantity u. The energizing state of the first and second solenoid valves is used to control the pressure regulating device to increase, maintain, or reduce pressure.

2. The clothes dryer according to claim 1, characterized in that, The PID control includes: a preset proportional term. Integral terms and differential terms Through the proportional term The proportional parameter is obtained by calculating the error e from the kth iteration, and then integrated using the integral term. The integral parameters are obtained by summing the errors e from the first to the kth iterations, and then by using the differential term. The differential parameter is obtained by calculating the difference between the error of the kth iteration and the error of the (k-1)th iteration. The value of the output quantity u(k) for the kth iteration is obtained by adding the proportional parameter, the integral parameter and the differential parameter.

3. The clothes dryer according to claim 2, characterized in that, Through the proportion Multiply by the error e of the kth iteration to obtain the proportional parameter; Through integral terms The integral parameter is obtained by multiplying the sum of the errors e from the 1st to the kth iterations. Through differential terms The differential parameter is obtained by multiplying the difference between the error of the kth iteration and the error of the (k-1)th iteration.

4. The clothes dryer according to claim 2 or 3, characterized in that, The controller is configured to: after a preset time interval, based on the error e and the proportional term... Integral terms and differential terms Perform the calculation to obtain the value of the output quantity u for the kth time.

5. The clothes dryer according to claim 2 or 3, characterized in that, 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.

6. The clothes dryer according to claim 2 or 3, characterized in that, When the output u equals 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains pressure.

7. The clothes dryer according to claim 2 or 3, characterized in that, 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.

8. The clothes dryer according to claim 2 or 3, characterized in that, The proportional term The integral term and the differential term The proportional term is set as a constant. The integral term and the differential term Set to a fixed value.

9. The clothes dryer according to claim 1, characterized in that, When the difference between the pilot pressure and the output pressure is greater than a preset difference, the controller issues a prompt indicating a relay valve malfunction.

10. A clothes dryer, characterized in that, include: The container includes a dispensing port located on the front side of the container; A drying cylinder is disposed inside the box; A door, connected to the box body and used to open or close the delivery port; A door lock is connected to the housing, which locks the door to prevent the door from opening the delivery port, or the door lock is unlocked to allow the door to open the delivery port. An auxiliary door opening module, located inside the housing, is used to apply air thrust to the door to unlock it from the lock; the auxiliary door opening module includes: Power source, used to provide compressed air; A pressure reducing device is used to reduce the pressure of the air flowing through it, wherein the air inlet of the pressure reducing device is connected to the air outlet of the power source; the pressure reducing device is a pressure reducing valve. A pressure regulating device is used to regulate air pressure. The air inlet of the pressure regulating device is connected to the air outlet of the pressure reducing device. The pressure regulating device outputs pilot pressure. Pressure channel, used for air transmission; A relay valve, the air inlet of which is connected to the air outlet of the power source and the air outlet of which is connected to the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device. The first air pressure sensor is used to detect the air pressure between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure. The second air pressure sensor is used to detect the air pressure between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure. The voltage regulating device includes: The first solenoid valve has its inlet connected to the outlet of the pressure reducing valve; The inlet of the second solenoid valve is connected to the outlet of the first solenoid valve and the pilot port of the relay valve. The controller is configured as follows: The actual pressure value F2' is obtained by using the pilot pressure or the output pressure; The difference between the preset interaction force F2 and the actual pressure value F2' is defined as the error e; The output quantity u is obtained by using PID control based on the error e. The energizing state of the first and second solenoid valves is controlled according to the positive or negative value of the output quantity u. The energizing state of the first and second solenoid valves is used to control the pressure regulating device to increase, maintain, or reduce pressure.

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