Door body control method, door body control device, door body, refrigerator and computer equipment

Abstract

The invention relates to a door body control method, a door body control device, a door body, a refrigerator and computer equipment, a first signal is generated when the door body makes contact with a door body push rod, a second signal is generated when the door body is separated from the door body push rod, and the method comprises the steps that in response to a door opening signal, the door body push rod is driven to execute extension motion till the door body push rod completely extends; under the condition that the door body push rod is completely stretched, if the second signal is not generated within the first time duration after the first signal is generated, the door body push rod is driven to execute retraction motion; under the condition that the door body push rod completely extends, if a second signal is generated within a first time length after the first signal is generated, moving of the door body push rod is stopped until the first signal is generated again, and the door body push rod is driven to execute retraction movement in response to the first signal; by adopting the method, the problem that the operation of the door body is difficult to accurately and stably control can be solved.

Description

Technical Field

[0001] The present application relates to the field of door control, and in particular to a door control method, a door control device, a door body, a refrigerator, and a computer device. Background Art

[0002] In the related art, an electric push rod is used to assist in opening the door body. When the push rod advances, the door body opens a certain distance; when the door body is pulled open, the push rod stays in place; during the closing process, when closing the door manually, after the door body contacts the push rod first, the push rod retracts; because the door body is connected to the guide rail, when the door body is within the self-locking range of the guide rail, the closing action is achieved through the pulling force of the guide rail recovery mechanism.

[0003] Since the door body is only subjected to the pushing force of the push rod and not the pulling force of the push rod; after the push rod pushes the door open, it is impossible to determine whether the user has an action of opening or closing the door. Because the subsequent action cannot be determined, the door control state is relatively fuzzy, resulting in the need to execute the opening and closing of the door body by limiting a certain duty cycle and power supply time. When driving the door body by the limited duty cycle and power supply time, there are problems in accurately and stably controlling the operation of the door body.

[0004] In view of the problem that it is difficult to accurately and stably control the operation of the door body in the related art, no effective solution has been proposed yet. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a door control method, a door control device, a door body, a refrigerator, and a computer device that can solve the problem of difficult to accurately and stably control the operation of the door body.

[0006] In a first aspect, in the present embodiment, a door control method is provided. When the door body contacts the door body push rod, a first signal is generated, and when the door body separates from the door body push rod, a second signal is generated. The method includes:

[0007] In response to an opening signal, driving the door body push rod to perform an extension movement until the door body push rod is fully extended;

[0008] When the door body push rod is fully extended, if the second signal is not generated within a first time length after generating the first signal, driving the door body push rod to perform a retraction movement;

[0009] When the door body push rod is fully extended, if the second signal is generated within the first time length after generating the first signal, stopping moving the door body push rod until the first signal is generated again, and in response to the first signal, driving the door body push rod to perform a retraction movement.

[0010] In some of these embodiments, the method further includes:

[0011] When the opening signal is not generated and the door body is in the open state, drive the door body push rod to perform the extension movement until the door body push rod is fully extended.

[0012] In some embodiments, driving the door body push rod to perform the extension movement until the door body push rod is fully extended includes:

[0013] Drive the door body push rod to perform the extension movement based on a first duty cycle;

[0014] Determine whether the first signal is generated during the process of driving the door body push rod to perform the extension movement until the door body push rod is fully extended;

[0015] If so, drive the door body push rod to perform the extension movement based on a second duty cycle until the door body push rod is fully extended; wherein, the second duty cycle is lower than the first duty cycle;

[0016] If not, drive the door body push rod to perform the extension movement based on the first duty cycle until the door body push rod is fully extended.

[0017] In some embodiments, driving the door body push rod to perform the extension movement includes:

[0018] Drive the door body push rod to perform the extension movement until the first signal is generated;

[0019] In response to the first signal, drive the door body push rod to perform the extension movement within a second time length based on a first duty cycle so that the door body push rod is fully extended after the second time length.

[0020] In some embodiments, driving the door body push rod to perform the retraction movement includes:

[0021] Drive the door body push rod to alternately perform the retraction movement and the extension movement;

[0022] Determine whether the number of alternations reaches a preset number;

[0023] If the number of alternations reaches the preset number, drive the door body push rod to perform the retraction movement based on a third duty cycle.

[0024] In some embodiments, driving the door body push rod to alternately perform the retraction movement and the extension movement includes:

[0025] Drive the door body push rod to perform the retraction movement within a third time length so that the retraction distance of the door body push rod is less than a preset distance;

[0026] Drive the door body push rod to perform the extension movement within the fourth time period.

[0027] In a second aspect, in the present embodiment, a door body control device is provided. The door body generates a first signal when it contacts the door body push rod, and the door body generates a second signal when it separates from the door body push rod. The door body control device includes:

[0028] An opening door module, in response to an opening door signal, drives the door body push rod to perform an extension movement until the door body push rod is fully extended;

[0029] A first control module, when the door body push rod is fully extended, if a first signal is generated and the second signal is not generated within a first time period, drives the door body push rod to perform a retraction movement; wherein, the door body generates the first signal when it contacts the door body push rod.

[0030] A second control module, when the door body push rod is fully extended, if the second signal is generated within the first time period after the first signal is generated, stops moving the door body push rod until the first signal is generated, and in response to the first signal, drives the door body push rod to perform a retraction movement; wherein, the door body generates the second signal when it separates from the door body push rod.

[0031] In a third aspect, in the present embodiment, a door body is provided. The door body includes a door body assembly, a switch device, a door body push rod, and a control device. The switch device is connected to the door body assembly, and the switch device is communicatively connected to the control device; wherein,

[0032] The switch device generates the first signal when it contacts the door body push rod, and the switch device generates the second signal when it separates from the door body push rod;

[0033] When the control device is executed, it is used to implement the door body control method described in the first aspect above.

[0034] In a fourth aspect, in the present embodiment, a refrigerator is provided. The refrigerator includes: a box body, a door body, and a door body control device. The door body control device is used to execute the door body control method described in the first aspect above.

[0035] In a fifth aspect, in the present embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the door body control method described in the first aspect above.

[0036] The above-mentioned door body control method, door body control device, door body, refrigerator and computer device generate a first signal and a second signal based on the contact situation between the door body and the push rod. After the push rod of the door body pushes the door open, it determines whether the user opens or closes the door based on the first signal and the second signal, thereby accurately controlling the operation of the push rod, ensuring smooth operation of the push rod, and realizing automatic judgment of opening and closing the door. Description of the Drawings

[0037] Figure 1 It is a schematic diagram of a door body control method in the related art;

[0038] Figure 2 It is an application environment diagram of the door body control method in an embodiment;

[0039] Figure 3 It is a schematic flowchart of the door body control method in an embodiment;

[0040] Figure 4 It is a schematic diagram of a door body in an embodiment;

[0041] Figure 5 It is a schematic diagram of a door body push rod in an embodiment;

[0042] Figure 6 It is a schematic diagram of a switch device in an embodiment;

[0043] Figure 7 It is a schematic diagram of door body control when the main control board receives an open door signal in an embodiment;

[0044] Figure 8 It is a schematic diagram when the main control board does not receive an open door signal and the door body is in an open state in an embodiment;

[0045] Figure 9 It is a structural block diagram of a door body control device in an embodiment;

[0046] Figure 10 It is an internal structure diagram of a computer device in an embodiment. Detailed Embodiments

[0047] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail 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.

[0048] Figure 1 A door body control method in the related art is provided. As Figure 1As shown, distance A is the distance that the electric push rod pushes the door. The push rod can push the door body until the door body reaches the position corresponding to distance A. Distance B is the range of the tensile force of the guide rail spring. When the door body is within the range of distance B, the door body automatically closes under the action of the tensile force of the guide rail spring. When the door body exceeds the range of distance B, the door body is no longer affected by the spring tensile force. Distance C is the fully open distance of the door body. Distance C is greater than distance B, and distance B is greater than distance A.

[0049] The method embodiments provided in this embodiment can be executed on a terminal, a computer, or a similar computing device. For example, running on a terminal, Figure 2 is a hardware structure block diagram of a terminal of a door body control method according to an embodiment of the present application. As Figure 2 shown, the terminal may include one or more ( Figure 2 only one is shown in the figure) processors 102 and a memory 104 for storing data. Among them, the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 2 the structure shown is only schematic and does not limit the structure of the above terminal. For example, the terminal may further include more or fewer components than Figure 2 shown in the figure, or have a different configuration from Figure 2 shown.

[0050] The memory 104 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the door body control method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0051] The transmission device 106 is used to receive or send data via a network. The above-mentioned network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0052] In one embodiment, as Figure 3 shown, a door control method is provided. Taking the terminal in Figure 2 as an example for illustration. Among them, the door generates a first signal when it contacts the door push rod, and the door generates a second signal when it separates from the door push rod. Among them, the contact surface between the door and the door push rod can include conductive contacts, magnetic coupling surfaces or photoinductive regions. When the contact surface includes conductive contacts, the physical contact state between the door and the door push rod can be judged by detecting the on / off of the current, and the first signal or the second signal can be output according to the judgment result. When the contact surface is a magnetic coupling surface, the physical contact state between the door and the door push rod can be identified by the change of the magnetic field of the Hall effect, and the first signal or the second signal can be output according to the judgment result. When the contact surface is a photoinductive region, the physical contact state between the door and the door push rod can be judged by the change of the light intensity, and the first signal or the second signal can be output according to the judgment result. The door control method includes the following steps:

[0053] Step 302, in response to the door opening signal, drive the door push rod to perform an extension movement until the door push rod is fully extended.

[0054] Among them, the door opening signal can be generated by real-time monitoring of the user's gestures, body distance or foot movements through devices such as infrared sensors, ultrasonic ranging devices, and capacitive sensors; the door opening signal can also be generated according to the force change of the door detected by the pressure sensor, or according to the user output instruction. The door push rod at least includes a driving motor and a push rod. Among them, the driving motor can be a DC motor or a stepper motor, and the driving motor is not limited here. After the door push rod is fully extended, the user can further increase the opening angle of the door by pulling the door.

[0055] Optionally, in response to the door opening signal, a PWM (Pulse-width modulation) signal or an analog voltage signal is output by a processor in the terminal to a drive motor in the door body push rod, so that the drive motor rotates based on a first direction, converts the rotational motion of the motor into a linear thrust, and pushes the push rod to extend axially along the guide rail. Among them, the door body push rod can reach a fully extended state by controlling the running time and duty cycle of the motor; or the displacement of the push rod can be feedback in real time through devices such as a Hall encoder or a travel switch, so that the door body push rod reaches a fully extended state.

[0056] Step 304, when the door body push rod is fully extended, if the second signal is not generated within the first time length after the generation of the first signal, drive the door body push rod to perform a retraction motion.

[0057] Among them, the first time length can be obtained according to the user's door pulling habit. Optionally, the average time between the door body push rod being fully extended and the user pulling the door is statistically calculated to obtain the first time length. Or, the first time length can be a pre-set value.

[0058] Optionally, when the door body push rod is fully extended, without the influence of external force, the door body contacts the door body push rod and generates a first signal. From the moment the first signal is generated, if the second signal is not generated within the continuous first time length, it indicates that the door body is in contact with the door body push rod all the time and the user has not performed an opening action. By driving the door body push rod to perform a retraction motion, the door body is closed.

[0059] Optionally, driving the door body push rod to perform a retraction motion includes: outputting a PWM signal or an analog voltage signal by a processor in the terminal to a drive motor in the door body push rod, so that the drive motor rotates based on a second direction, and pushes the push rod to retract axially along the guide rail. Among them, the first direction and the second direction are opposite.

[0060] Step 306, when the door body push rod is fully extended, if the second signal is generated within the first time length after the generation of the first signal, stop moving the door body push rod until the first signal is generated again, and drive the door body push rod to perform a retraction motion in response to the first signal.

[0061] Among them, when the door body push rod is fully extended, without the influence of external force, the door body contacts the door body push rod and generates a first signal. If the second signal is generated within the first time length from the moment the first signal is generated, it indicates that the user has performed an opening action. After the second signal is generated, if the first signal is generated again, it indicates that the door body contacts the door body push rod during the closing action, that is, the user has performed a closing action. Driving the door body push rod to perform a retraction motion to prevent the push rod from affecting the closing of the door body.

[0062] In the above door body control method, the first signal and the second signal are generated based on the contact situation between the door body and the push rod. After the door body push rod opens the door, it is determined whether the user performs an opening or closing action on the door body based on the first signal and the second signal, and the operation of the door body push rod is controlled, optimizing the operation logic of the electric push rod and improving the accuracy of the automatic opening and closing of the door body.

[0063] In one embodiment, the door body method further includes: when no opening signal is generated and the door body is in the open state, driving the door body push rod to perform an extension movement until the door body push rod is fully extended.

[0064] Among them, when the door body sensor fails to recognize or the user does not input an opening instruction, there is a situation where the user opens the door body without generating an opening signal. Optionally, the relative distance between the box body and the door body can be captured by devices such as a distance sensor and an ultrasonic ranging module; or, the included angle between the door body and the box body can be detected by an angle sensor. According to the detection result, when the opening distance of the door body is greater than or equal to the specified distance or the opening angle of the door body is greater than or equal to the specified angle, it is determined that the door body is in the open state.

[0065] Optionally, when no opening signal is generated and the door body is in the open state, it is also possible to wait for a preset time length first, and after the preset time length, drive the door body push rod to perform an extension movement until the door body push rod is fully extended. By waiting for a certain time, the extension movement of the door body push rod is prevented from affecting the opening action performed by the user.

[0066] Optionally, when driving the door body push rod to perform an extension movement, the operation of the motor can be controlled by a preset duty cycle, thereby restricting the speed of the push rod through the motor and improving the safety during the opening and closing process of the door body.

[0067] In this embodiment, in order to reduce the possibility that the electric push rod cannot be started during subsequent opening and closing actions, by identifying the opening signal and the door body state, the operation of the door body push rod is controlled, which is beneficial to improving the stability of the automatic opening and closing of the door body.

[0068] Optionally, when the door body push rod is fully extended, the operation of the door body push rod can be controlled based on the judgment logic of the above embodiment: if the first signal is generated and the second signal is not generated within the first time length, drive the door body push rod to perform a retraction movement, so that when the user accidentally opens the refrigerator without the intention of opening the door, the door body can be automatically closed. If the second signal is generated within the first time length after the first signal is generated, stop moving the door body push rod until the first signal is generated again, and drive the door body push rod to perform a retraction movement in response to the first signal, so that the door body push rod can smoothly retract after the user opens the door.

[0069] Further, in one embodiment, the door body push rod is driven to perform an extension movement based on a first duty cycle; it is judged whether a first signal is generated during the process of driving the door body push rod to perform an extension movement until the door body push rod is fully extended; if so, the door body push rod is driven to perform an extension movement based on a second duty cycle until the door body push rod is fully extended; wherein, the second duty cycle is lower than the first duty cycle; if not, the door body push rod is driven to perform an extension movement based on the first duty cycle until the door body push rod is fully extended.

[0070] Wherein, the first duty cycle and the second duty cycle can be preset values. Alternatively, the second duty cycle can also be obtained according to the time length between the start of the extension movement of the door body push rod and the generation of the first signal. The longer the time length, the relatively higher the second duty cycle; the shorter the time length, the relatively lower the second duty cycle; at the same time, it is necessary to ensure that the second duty cycle is always less than the first duty cycle. Considering that during the period from the start of the extension movement of the door body push rod to the full extension, if the user opens the door slowly, the door body and the door body push rod will come into contact with each other and generate a first signal. By setting a second duty cycle smaller than the first duty cycle to drive the door body push rod to continuously perform an extension movement, while assisting the opening of the door body by the door body push rod, the safety hazard caused by the too fast opening speed of the door body can be avoided. After the door body push rod is fully extended, a second signal is generated, and it can be judged that the user has pulled open the door, so that the door body and the door body push rod are no longer in contact. If the user opens the door quickly, there will be no contact between the door body and the door body push rod, that is, no first signal and second signal are generated.

[0071] It can be understood that after the door body push rod is fully extended, in the case of generating a first signal again, it can be judged that the user has performed a closing action, so the door body push rod can be driven to perform a retraction movement, and the closing of the door body is driven by the pulling force of the push rod.

[0072] In this embodiment, by adjusting the duty cycle to adapt to the two scenarios of the user pulling the door quickly and the user pulling the door slowly, the adaptability and safety of the door body operation are improved.

[0073] In one embodiment, driving the door body push rod to perform an extension movement includes: driving the door body push rod to perform an extension movement until a first signal is generated; in response to the first signal, driving the door body push rod to perform an extension movement within a second time length based on the first duty cycle, so that the door body push rod is fully extended after the second time length.

[0074] Among them, the rotation speed of the motor driving the door body push rod can be driven by a first duty ratio, so as to limit the movement speed of the door body push rod, and the first duty ratio can be obtained by presetting. The second time length is obtained according to the difference between the motor duty ratio when driving the door body push rod to move in response to the first signal and the movement stroke when the door body push rod contacts the door body and the movement stroke when the door body push rod is fully extended. By setting the second time length and the preset speed, the transformation of the door body push rod from the state of contacting the door body to the state of being fully extended can be satisfied.

[0075] In this embodiment, when it is determined based on the first signal that the door body contacts the door body push rod, by limiting the movement speed and movement time of the door body push rod, it is ensured that the distance that the door body push rod pushes the door body is fixed, improving the accuracy of the operation of the door body push rod.

[0076] In one embodiment, driving the door body push rod to perform a retraction movement includes: driving the door body push rod to alternately perform a retraction movement and an extension movement; determining whether the number of alternations reaches a preset number; if the number of alternations reaches the preset number, driving the door body push rod to perform a retraction movement based on a third duty ratio.

[0077] Among them, the retraction movement and the extension movement are alternately executed, but the execution sequence can be adjusted. During the process of driving the door body push rod to alternately perform a retraction movement and an extension movement, the door body is not in a closed state until driving the door body push rod to perform a retraction movement based on the third duty ratio. Under the action of the force of the door body push rod, the door body closes. The number of alternations is a specified positive integer and can be set according to application requirements.

[0078] In this embodiment, the door body push rod alternately performs a retraction movement and an extension movement to achieve the effect of prompting the user that the door body is about to close, improving the safety during the opening and closing process of the door body.

[0079] Further, in one embodiment, driving the door body push rod to alternately perform a retraction movement and an extension movement includes: driving the door body push rod to perform a retraction movement based on a third duty ratio within a third time length, so that the retraction distance of the door body push rod is less than a preset distance; driving the door body push rod to perform an extension movement based on a fourth duty ratio within a fourth time length.

[0080] Among them, when the retraction distance of the door body push rod is less than the preset distance, the distance between the door body and the box body is relatively large, enough to avoid the risk of finger pinching that may be caused by the closing of the door body. Optionally, by limiting the third duty ratio within the third time length and the fourth duty ratio within the fourth time length, the retraction distance of the door body push rod can be made less than the preset distance. Optionally, the retraction distance of the door body push rod can be detected by a position sensor. When it is detected that the retraction distance of the door body push rod is equal to the preset distance, driving the door body to perform an extension movement so that the retraction distance of the door body push rod is less than the preset distance.

[0081] In this embodiment, by restricting the retraction distance during the retraction movement and the extension movement, the risk of pinching hands caused by excessive retraction of the door body push rod is prevented.

[0082] Based on the same inventive concept, an embodiment of the present application also provides a door body for implementing the door body control method involved above. The implementation solutions provided by this device to solve problems are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more door body embodiments provided below can refer to the limitations on the door body control method in the above text, and will not be repeated here.

[0083] In one embodiment, a door body is provided. The door body includes a door body assembly 1, a switch device 2, a door body push rod 3, and a control device. The switch device 2 is connected to the door body assembly 1, and the switch device 2 is communicatively connected to the control device. Among them, the switch device 2 generates a first signal when it comes into contact with the door body push rod 3, and the switch device 2 generates a second signal when it separates from the door body push rod 3. When the control device executes, it is used to implement the steps in the above method embodiments.

[0084] Optionally, Figure 4 A schematic diagram of a door body is provided. Figure 4 As shown, the switch device 2 is a magnetic sensor switch and is arranged on one side of the door body assembly 1. The door body push rod 3 is fixed to the box body side. The door body push rod includes a push rod motor 31 and a push rod 32. The push rod 32 at the front end of the push rod motor 31 uses a magnetic material, that is, the push rod 32 has magnetism. When the magnetic push rod approaches or contacts the magnetic sensor switch, the contact is closed, and at this time, a first signal is output to the control board. When the magnetic push rod separates from the magnetic sensor switch, the contact is disconnected, and at this time, a second signal is output to the control board. The signal provided by the magnetic sensor switch is used as the basis for judging whether the door body is separated from the push rod.

[0085] Figure 5 This is a schematic diagram of a door body push rod 3 in this embodiment. Figure 5 (a) is an overall schematic diagram of the door body push rod 3, Figure 5 (b) is a cross-sectional schematic diagram of the door body push rod 3. Among them, in order to prevent impact and excessive noise, in addition to the push rod motor 31 and the push rod 32 of the door body push rod 3, a shock-absorbing material can also be fixed to the front end of the push rod 32, such as Figure 5 the shock-absorbing rubber cap 33 in (b) of this figure. Among them, the shock-absorbing material can be selected from other materials such as silica gel. The door body push rod 3 is connected to the door end cover 11 in the door body assembly 1.

[0086] Figure 6 This is a schematic diagram of a switch device in this embodiment, as shown in Figure 6As shown, the switch device 2 is a magnetic sensor switch; the door body assembly includes a door end cap 11, an embedded box 12, and a switch cover 13. When the magnetic sensor switch needs to be fixed on the foaming agent side of the door end cap 11, the embedded box 12 can be installed before foaming to leave an installation space for the magnetic sensor switch. After the magnetic sensor switch is installed, the switch cover 13 for installing the magnetic sensor switch is installed. The setting of the magnetic sensor switch in the door body part is realized.

[0087] In the related art, after the push rod pushes the door open, it is impossible to determine whether the user has the action of pulling the door open. When closing the door, the door body. The program needs to define a certain duty cycle and power supply time, and the program is relatively complex, the control state is relatively fuzzy, and it is not accurate. In this embodiment, by combining the door body assembly, the switch device, the door body push rod and the control device, the pulling and closing states of the user operating the refrigerator door can be accurately obtained, which is convenient for accurately controlling the opening and closing of the door body.

[0088] In one embodiment, a refrigerator is provided, which includes: a box body, a door body and a door body control device, and the door body control device is used to execute the door body control method in each of the above method embodiments. Among them, the door body push rod can be connected to the box body or the door body, and no limitation is made here.

[0089] In the related art, during the door closing process, the power supply duty cycle of the electric push rod is relatively small, and for different electric push rods, the phenomenon that the motor cannot start may occur, which may further cause the door body not to close completely. In one embodiment, another door body control method is provided, which can be applied to the door body in the above embodiment, or applied to the refrigerator in the above embodiment. After determining the user's door pulling and closing actions based on the first signal and the second signal, the push rod motor can be controlled to start with a higher duty cycle, so as to optimize the logic of the push rod motor and ensure smooth movement when the push rod retracts.

[0090] Figure 7 A schematic diagram of door body control when the main control board receives an open door signal is provided, which is applied to the main control board communicatively connected to the door body, such as Figure 7 As shown, it includes:

[0091] Step 701, when the main control board receives an open door signal, control the push rod motor to act and contact the door body.

[0092] Optionally, after controlling the push rod motor to perform an extension action, the magnetic sensor switch contact closes and outputs a first signal to the control board. The main control board controls the push rod motor to push out with a J duty cycle. After K seconds, the push rod is fully opened, and the main control board no longer supplies power to the push rod. Among them, K seconds is the above-mentioned second time length, and J is the above-mentioned first duty cycle.

[0093] Step 702: Determine whether the user opens the door body according to the signal received by the main control board. If not, execute Step 703; if so, execute Step 704. Optionally, after the push rod motor stops for m seconds, if the main control board only receives the first signal, it is determined that the user does not open the door body; after the push rod motor stops for m seconds, if the magnetic sensor switch contact is disconnected and the main control board receives the second signal, it is determined that the user opens the door body.

[0094] Step 703: After the push rod motor stops for m seconds, reverse and forward rotate a preset number of times, and then retract at the X duty ratio. The preset number of times can be once or multiple times. Optionally, the push rod motor reverses for n seconds, and n seconds is the third time length. After the hand reaches into the door handle of the door body, the remaining gap is D; when reversing for n seconds, the retraction distance of the push rod is less than the preset distance D to prevent pinching the hand. Optionally, the push rod motor rotates forward for p seconds, and p seconds is the third time length. The X duty ratio is the third duty ratio in the above embodiment.

[0095] Step 704: The door body push rod stays continuously until the first signal is received, then reverses and forward rotates a preset number of times, and then retracts at the X duty ratio. After the user completes taking and placing food and closes the door body, the door body will touch the staying push rod; the magnetic sensor switch contact will close again and output the first signal to the control board.

[0096] Figure 8 A schematic diagram of door body control when the door body is in the open state and the main control board does not receive the door opening signal is provided, which is applied to the main control board communicatively connected to the door body, such as Figure 8 shown, including:

[0097] Step 801: When the main control board does not receive the door opening signal and the door body is in the open state, after a short delay of the preset time length s seconds, the main control board controls the push rod motor to push out at the J duty ratio. When the refrigerator is powered on, the door body is closed, and the door body is in the initial state; the door body is opened by a distance A, and it is determined that the door body is in the open state. The distance A is the door pushing distance when the door body push rod is fully extended. Optionally, when the user pulls the door open from the side or the sensor for generating the door opening signal makes a mistake, the main control board does not receive the door opening signal but the door body is opened. Optionally, it can be determined whether the door body is in the open state through the door switch.

[0098] Step 801: Determine whether the speed at which the user opens the door body is slow according to the first signal received by the main control board. If so, execute Step 802; if not, execute Step 803. Among them, if the main control board receives the first signal, the push rod motor touches the door body, and the magnetic sensor switch contact closes, it is determined that the speed at which the user opens the door body is slow; if the main control board does not receive the first signal, it is determined that the speed at which the user opens the door body is good.

[0099] Step 802, when the user pulls the door slowly, the main control board continuously controls the push rod motor to push out at the L duty ratio and executes Step 804. Herein, the L duty ratio is the second duty ratio, and L is less than J. Optionally, the main control board continuously controls the push rod motor to push out at the L duty ratio until the push rod is fully opened, and the main control board no longer supplies power to the push rod. Optionally, if the user continues to pull the door subsequently, the push rod motor detaches from the door body, and the door body can be controlled through the logic of Step 704. Optionally, obtain the state of the door body push rod. If it is determined according to the state of the door body push rod that the door body push rod is in the stretching process and the first signal is received simultaneously, it is determined that there is a door opening requirement, and the door body push rod is controlled to push out. Alternatively, obtain the specified time required for the main control board to control the push rod motor to push out to full opening at the J duty ratio. If the first signal is received within the specified time when the push rod motor pushes out, it is determined that there is a door closing requirement.

[0100] Step 803, when the user pulls the door quickly, the main control board continuously controls the push rod motor to push out at the J duty ratio and executes Step 804. Optionally, after the push rod motor is controlled to push out at the J duty ratio for K seconds, the push rod is fully opened, and the main control board no longer supplies power to the push rod. The push rod stays continuously and does not move.

[0101] Step 804, during the process when the door body push rod is fully opened and stays continuously, if the first signal is received, control the door body push rod to retract. Optionally, after the user finishes taking and placing food and closes the door, the staying push rod will be touched. The magnetic sensor switch contact will close and output the first signal to the control board. The main control board controls the push rod motor to reverse for n seconds, then forward for p seconds, and then retract at the X duty ratio, or the main control board controls the push rod motor to alternately reverse and forward a certain number of times and then retract at the X duty ratio. Herein, when reversing for n seconds, the retraction distance of the push rod is less than the preset distance D to prevent pinching hands. Optionally, obtain the state of the door body push rod. If the first signal is received when the door body push rod is in the state of being fully opened and staying continuously, it is determined that there is a door closing requirement, and the door body push rod is controlled to retract; or, obtain the specified time required for the main control board to control the push rod motor to push out at the J duty ratio. If the first signal is received after the specified time when the push rod motor pushes out, it is determined that there is a door closing requirement.

[0102] In this embodiment, based on the first signal and the second signal, the door body switch state is determined, and then the push rod motor can be controlled to start at a higher duty ratio, reducing the possibility that the door body cannot be fully closed due to the push rod getting stuck.

[0103] Based on the same inventive concept, the embodiment of the present application further provides a door body control device for implementing the door body control method involved above. The implementation solutions provided by this device to solve problems are similar to the implementation solutions recorded in the above method. Therefore, the specific limitations in one or more embodiments of the door body control device provided below can refer to the limitations on the door body control method in the above text and will not be elaborated here.

[0104] In one embodiment, as Figure 9 shown, a door control device is provided. The door generates a first signal when it contacts the door push rod, and generates a second signal when it separates from the door push rod. The door control device includes: an opening module that, in response to an opening signal, drives the door push rod to perform an extension movement until the door push rod is fully extended; a first control module that, when the door push rod is fully extended, if the first signal is generated and the second signal is not generated within a first time period, drives the door push rod to perform a retraction movement; wherein the door generates the first signal when it contacts the door push rod, and a second control module that, when the door push rod is fully extended, if the second signal is generated within the first time period after the first signal is generated, stops moving the door push rod until the first signal is generated again, and in response to the first signal, drives the door push rod to perform a retraction movement; wherein the door generates the second signal when it separates from the door push rod.

[0105] In one embodiment, the door control device further includes a third control module for driving the door push rod to perform an extension movement until the door push rod is fully extended when no opening signal is generated and the door is in an open state.

[0106] Further, the third control module driving the door push rod to perform an extension movement until the door push rod is fully extended includes: driving the door push rod to perform an extension movement based on a first duty cycle; determining whether the first signal is generated during the process of driving the door push rod to perform an extension movement until the door push rod is fully extended; if so, driving the door push rod to perform an extension movement based on a second duty cycle until the door push rod is fully extended; wherein the second duty cycle is lower than the first duty cycle; if not, driving the door push rod to perform an extension movement based on the first duty cycle until the door push rod is fully extended.

[0107] In one embodiment, the door control device driving the door push rod to perform an extension movement includes: driving the door push rod to perform an extension movement until the first signal is generated; in response to the first signal, driving the door push rod to perform an extension movement within a second time period based on the first duty cycle so that the door push rod is fully extended after the second time period.

[0108] The door control device driving the door push rod to perform a retraction movement includes: driving the door push rod to alternately perform a retraction movement and an extension movement; determining whether the number of alternations reaches a preset number; if the number of alternations reaches the preset number, driving the door push rod to perform a retraction movement based on a third duty cycle.

[0109] Further, driving the door push rod to alternately perform a retraction movement and an extension movement includes: driving the door push rod to perform a retraction movement within a third time period so that the retraction distance of the door push rod is less than a preset distance; driving the door push rod to perform an extension movement within a fourth time period.

[0110] Each module in the above door control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0111] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 10 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data required when implementing the door control method, such as the first time length. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements a door control method.

[0112] Those skilled in the art can understand that Figure 10 the structure shown in

[0113] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0114] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps in the above method embodiments.

[0115] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, it implements the steps in the above method embodiments.

[0116] Those of ordinary skill in the art can understand that all or part of the processes in the above-described embodiment methods can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above various methods. Among them, any reference to a memory, database, or other medium used in the various embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the various embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the various embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0117] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0118] The above-described embodiments merely represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. A door body control method, characterized in that, The door body generates a first signal when it contacts the door body push rod, and the door body generates a second signal when it separates from the door body push rod. The method includes: In response to the door opening signal, driving the door body push rod to perform an extension movement until the door body push rod is fully extended; When the door body push rod is fully extended, if the second signal is not generated within the first time period after the first signal is generated, driving the door body push rod to perform a retraction movement; When the door body push rod is fully extended, if the second signal is generated within the first time period after the first signal is generated, stop moving the door body push rod until the first signal is generated again, and in response to the first signal, drive the door body push rod to perform a retraction movement.

2. The method according to claim 1, characterized in that, The method further includes: When the door opening signal is not generated and the door body is in the open state, driving the door body push rod to perform the extension movement until the door body push rod is fully extended.

3. The method according to claim 2, wherein Driving the door body push rod to perform the extension movement until the door body push rod is fully extended includes: Driving the door body push rod to perform the extension movement based on a first duty cycle; Judging whether the first signal is generated during the process of driving the door body push rod to perform the extension movement until the door body push rod is fully extended; If so, driving the door body push rod to perform the extension movement based on a second duty cycle until the door body push rod is fully extended; wherein, the second duty cycle is lower than the first duty cycle; If not, driving the door body push rod to perform the extension movement based on the first duty cycle until the door body push rod is fully extended.

4. The method according to any one of claims 1 to 3, characterized in that, Driving the door body push rod to perform the extension movement includes: Driving the door body push rod to perform the extension movement until the first signal is generated; In response to the first signal, driving the door body push rod to perform the extension movement within a second time period based on a first duty cycle so that the door body push rod is fully extended after the second time period.

5. The method according to claim 1 or 3, characterized in that Driving the door body push rod to perform the retraction movement includes: Driving the door body push rod to alternately perform the retraction movement and the extension movement; Judging whether the number of alternations reaches a preset number; If the number of alternations reaches the preset number, driving the door body push rod to perform the retraction movement based on a third duty cycle.

6. The method according to claim 5, wherein Driving the door body push rod to alternately perform the retraction movement and the extension movement includes: Driving the door body push rod to perform the retraction movement within a third time period so that the retraction distance of the door body push rod is less than a preset distance; Driving the door body push rod to perform the extension movement within a fourth time period.

7. A door control device, characterized in that, The door body generates a first signal when it contacts the door body push rod, and the door body generates a second signal when it separates from the door body push rod. The door body control device includes: An opening module, which in response to the door opening signal, drives the door body push rod to perform an extension movement until the door body push rod is fully extended; The first control module, when the door body push rod is fully extended, if the second signal is not generated within the first time length after generating the first signal, drives the door body push rod to perform a retraction movement; wherein, the door body generates the first signal when contacting the door body push rod. The second control module, when the door body push rod is fully extended, if the second signal is generated within the first time length after generating the first signal, stops moving the door body push rod until the first signal is generated, and drives the door body push rod to perform a retraction movement in response to the first signal; wherein, the door body generates the second signal when separating from the door body push rod.

8. A door body, characterized in that, The door body includes a door body assembly, a switch device, a door body push rod and a control device, the switch device is connected to the door body assembly, and the switch device is communicatively connected to the control device; wherein, The switch device generates the first signal when contacting the door body push rod, and the switch device generates the second signal when separating from the door body push rod; When the control device executes, it is used to implement the steps of the method according to any one of claims 1 to 6.

9. A refrigerator, characterized in that, The refrigerator includes: a box body, a door body and a door body control device, and the door body control device is used to execute the steps of the method according to any one of claims 1 to 6.

10. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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