Refrigerator door body anti-pinch control method and device, refrigerator and storage medium

Abstract

The application relates to a refrigerator door body anti-pinch control method and device, a refrigerator and a storage medium, wherein the refrigerator door body anti-pinch control method comprises the following steps: when a door opening signal is received and it is detected that the door body is in an open door state, the duty cycle of a push rod motor is adjusted, and the push rod motor is controlled to run at the adjusted latest duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force of the guide rail on the door body is greater than the door body closing resistance. Through the application, the push rod is kept in an extended state, and the function of actively preventing the refrigerator door body from pinching hands is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of refrigerators, in particular to a refrigerator door body anti-pinch hand control method and device, a refrigerator and a storage medium. BACKGROUND

[0002] At present, with the rapid development of intelligent household appliances, more and more intelligent household appliances have entered the market, and more and more users have experienced the convenient lifestyle brought by intelligent household appliances. In order to be beautiful, the existing embedded refrigerators basically adopt handle-free or hidden handle design. However, when manually closing the refrigerator door or the refrigerator with a self-opening door system, in order to ensure that the door is closed without leakage, the pulling force of the hinge or guide rail is relatively large. At this time, if the user's hand is placed on the hidden handle, it will be dangerous to pinch the hand or even be injured. At present, in order to prevent pinching the hand, the main method is to design a soft strip: install a soft strip at the pinch gap of the refrigerator door to reduce the risk of injury. The soft strip is usually made of soft materials such as rubber or silicone, which can buffer and protect when the door is closed. Or, through warning signs and instructions: warning signs and instructions can be marked near the refrigerator door to remind users to pay attention to the risk of injury and use the refrigerator correctly. Or user education: provide correct use education and guidance for users to understand how to correctly open and close the refrigerator door to avoid the danger of pinching the hand. The existing technology is through physical protection or education, which requires users to actively learn to improve their self-prevention awareness to avoid being injured by the refrigerator door and reduce the risk of injury. However, it cannot actively avoid the user's hand from being pinched by the refrigerator's own control system.

[0003] At present, there is no effective solution to the problem that the refrigerator door body cannot actively prevent pinching the hand in the related art. SUMMARY

[0004] A refrigerator door body anti-pinch hand control method, device, refrigerator and storage medium are provided in the embodiment to solve the problem that the refrigerator door body cannot actively prevent pinching the hand in the related art.

[0005] In a first aspect, a refrigerator door body anti-pinch hand control method is provided in the embodiment. In the refrigerator, a push rod is controlled by a push rod motor to push or pull the door body out or back, a guide rail is installed on the door body, and the door body is pulled back through the guide rail. The method comprises the following steps:

[0006] When a door opening signal is received and it is detected that the door body is in an open state, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to operate at the latest adjusted duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force of the guide rail on the door body is greater than the closing resistance of the door body.

[0007] In some embodiments, when the door opening signal is received and the door body is detected to be in the open state, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to operate at the adjusted latest duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the door closing resistance, including:

[0008] A cycle process is performed until the door body is closed, the cycle process including:

[0009] In a preset first time period, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to reverse at the adjusted latest first duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the door closing resistance;

[0010] In a preset second time period, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to forward at the adjusted latest second duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the door closing resistance; wherein the adjusted latest duty cycle includes the latest first duty cycle and the latest second duty cycle.

[0011] In some embodiments, when the door body enters the automatic closing range of the guide rail, including:

[0012] The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to reverse at the adjusted latest third duty cycle, so that the push rod retracts by a first distance in the preset first time period; then the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to forward at the adjusted latest fourth duty cycle, so that the push rod retracts by a second distance in the preset second time period, wherein the first distance is greater than the second distance.

[0013] In some embodiments, when the door body does not enter the automatic closing range of the guide rail, including:

[0014] The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to reverse at the adjusted latest fifth duty cycle, so that the push rod retracts by a third distance in the preset first time period; then the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to forward at the adjusted latest sixth duty cycle, so that the push rod retracts by a fourth distance in the preset second time period, wherein the fourth distance is greater than the third distance.

[0015] In some embodiments, the adjusting the duty cycle of the push rod motor and controlling the push rod motor to reverse at the adjusted latest first duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the door closing resistance, within a preset first time length, comprises:

[0016] determining whether the door body enters the automatic closing range of the guide rail,

[0017] if yes, adjusting the duty cycle of the push rod motor and controlling the push rod motor to reverse at the adjusted latest seventh duty cycle, so that the sum of the retraction force generated by the push rod motor on the push rod and the pull-back force generated by the guide rail on the door body is greater than the door closing resistance;

[0018] otherwise, adjusting the duty cycle of the push rod motor and controlling the push rod motor to reverse at the adjusted latest eighth duty cycle, so that the retraction force generated by the push rod motor on the push rod is greater than the door closing resistance; wherein the latest first duty cycle comprises the latest seventh duty cycle and the latest eighth duty cycle.

[0019] In some embodiments, the adjusting the duty cycle of the push rod motor and controlling the push rod motor to forward at the adjusted latest second duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the door closing resistance, within a preset second time length, comprises:

[0020] determining whether the door body enters the automatic closing range of the guide rail,

[0021] if yes, adjusting the duty cycle of the push rod motor and controlling the push rod motor to forward at the adjusted latest ninth duty cycle, so that the sum of the push-out force generated by the push rod motor on the push rod and the pull-back force generated by the guide rail on the door body is greater than the door closing resistance;

[0022] otherwise, adjusting the duty cycle of the push rod motor and controlling the push rod motor to forward at the adjusted latest tenth duty cycle, so that the push-out force generated by the push rod motor on the push rod is greater than the door closing resistance; wherein the latest second duty cycle comprises the latest ninth duty cycle and the latest tenth duty cycle.

[0023] In some embodiments, the door opening signal is a pressure signal received by the door body.

[0024] In some embodiments, before adjusting the duty cycle of the push rod motor, when detecting that the door body is in an open state, in the case of receiving a door opening signal, comprises:

[0025] In the case of receiving the door opening signal, the push rod motor is controlled to rotate forward for a preset third time length, so that the push rod pushing force is greater than the sum of the guide rail pull force on the door body and the door body closing resistance, and the push rod is pushed to the maximum distance;

[0026] The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate reversely for a preset fourth time length at the adjusted latest eleventh duty cycle, so that the push rod retraction force is 0, and the opening and closing state of the door body is detected.

[0027] In some embodiments, before the control of the push rod motor to rotate forward for a preset third time length, the method comprises:

[0028] It is judged whether the door body meets the door opening condition, if yes, the push rod motor is controlled to rotate forward for a preset third time length; otherwise, the push rod motor is controlled to stop running; wherein the door opening condition is that other door bodies of the refrigerator are not in the door opening state.

[0029] In some embodiments, in the case of receiving the door opening signal, and when it is detected that the door body is in the door closing state, the method comprises:

[0030] The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate reversely at the adjusted latest twelfth duty cycle, so that the push rod retraction force is greater than the push rod resistance, so that the door body is directly closed.

[0031] In some embodiments, in the execution of the above-mentioned cyclic process, when it is detected that the door body is in the door closing state, the method comprises:

[0032] The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate reversely at the adjusted latest thirteenth duty cycle, so that the push rod retraction force is greater than the push rod resistance, so that the door body is directly closed.

[0033] The second aspect, in the present embodiment provides a refrigerator door body anti-pinch control device, comprising: detection module, judging module and control module, wherein,

[0034] The detection module is used to detect the door opening signal of the door body;

[0035] The judging module is used to judge whether the door body meets the door opening condition in the case of receiving the door opening signal;

[0036] The control module is used to adjust the duty cycle of the push rod motor and control the push rod motor to run at the adjusted latest duty cycle in the case of receiving the door opening signal and detecting that the door body is in the door opening state, so that the sum of the force generated by the push rod motor on the push rod and the force of the guide rail on the door body is greater than the door body closing resistance.

[0037] In a third aspect, a refrigerator is provided in the present embodiment, which applies the refrigerator door anti-pinch control method of the first aspect described above, and the refrigerator comprises a door body, a guide rail assembly, a pressing sensor, a push rod motor and a door magnetic switch, wherein,

[0038] The pressing sensor is configured to detect a pressing door opening signal of the door body.

[0039] The guide rail assembly is configured to generate a guide rail pull-back force on the door body.

[0040] The push rod motor is configured to generate a push rod push-out force and a push rod pull-back force on the push rod of the door body.

[0041] The door magnetic switch is configured to detect an open state of the door body.

[0042] In a fourth aspect, an electronic device is provided in the present embodiment, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the refrigerator door anti-pinch control method of the first aspect described above when executing the computer program.

[0043] In a fifth aspect, a storage medium is provided in the present embodiment, which stores a computer program executable by a processor to implement the refrigerator door anti-pinch control method of the first aspect described above.

[0044] Compared with the related art, the refrigerator door anti-pinch control method provided in the present embodiment adjusts the duty cycle of the push rod motor and controls the push rod motor to operate at the adjusted latest duty cycle when receiving a door opening signal and detecting that the door body is in an open state, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the closing resistance of the door body, which realizes that the push rod remains in an extended state and realizes the function of active anti-pinch of the refrigerator door body.

[0045] Details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more apparent. BRIEF DESCRIPTION OF DRAWINGS

[0046] The drawings described herein are intended to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0047] Figure 1 is a hardware structure block diagram of the terminal of the refrigerator door anti-pinch control method of the present embodiment.

[0048] Figure 2is a flow chart of a refrigerator door body anti-pinch hand control method of the embodiment.

[0049] Figure 3 is a flow chart of another refrigerator door body anti-pinch hand control method of the embodiment.

[0050] Figure 4 is a structure block diagram of a refrigerator door body anti-pinch hand control device of the embodiment.

[0051] Figure 5 is a structure diagram of a refrigerator of the embodiment. DETAILED DESCRIPTION

[0052] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and explained below in conjunction with the drawings and embodiments.

[0053] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the general meaning understood by a person with ordinary skill in the art to which the present application belongs. In the present application, "one", "a", "an", "the", "these" and similar words do not represent a quantitative limitation, but can be singular or plural. In the present application, the terms "include", "contain", "have" and any variants thereof are intended to cover non-exclusive inclusion; for example, a process, method and system, product or device containing a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method, product or device. In the present application, the terms "connected", "connected", "coupled" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In the present application, "multiple" means two or more. The association between the associated objects is described by "and / or", which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. In general, the character " / " represents an "or" relationship between the objects before and after it. In the present application, the terms "first", "second", "third" and the like are only used to distinguish similar objects, and do not represent a specific order of the objects.

[0054] The method embodiments provided in the present embodiment can be executed in a terminal, a computer or a similar computing device. For example, the method embodiments are executed on a terminal, Figure 1 is a hardware structure block diagram of a terminal of a refrigerator door body anti-pinch hand control method of the embodiment. As shown in Figure 1 , the terminal can include one or more (e.g., a plurality of) processors 1001 (e.g., CPUs, application specific integrated circuits, field programmable gate arrays, etc.), at least one memory 1002 (e.g., random access memory (RAM), flash memory, readonly memory (ROM), etc.), a display 1003, a keyboard 1004, a user interface (UI) 1005, a Figure 1The terminal shown in FIG. 1 includes only one processor 102 and a memory 104 for storing data, wherein the processor 102 can include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The terminal can also include a transmission device 106 for communication function and an input / output device 108. Those skilled in the art can understand that Figure 1 The structure shown is only schematic and does not limit the structure of the terminal. For example, the terminal can include more or fewer components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1. Figure 1 The terminal shown in FIG. 1 includes only one processor 102 and a memory 104 for storing data, wherein the processor 102 can include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The terminal can also include a transmission device 106 for communication function and an input / output device 108. Those skilled in the art can understand that Figure 1 The structure shown is only schematic and does not limit the structure of the terminal. For example, the terminal can include more or fewer components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1.

[0055] The memory 104 can be used to store computer programs, such as software programs of application software and modules, such as the computer program corresponding to the refrigerator door body anti-pinch hand control method in the present embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, i.e. implements the method described above. The memory 104 can include a high-speed random access memory, and can 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 examples, the memory 104 can further include a memory remotely arranged with respect to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0056] The transmission device 106 is used to receive or send data via a network. The network includes a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, 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 (Radio Frequency, RF) module which is used to communicate with the Internet in a wireless manner.

[0057] In the present embodiment, a refrigerator door body anti-pinch hand control method is provided. In the refrigerator, a push rod is controlled by a push rod motor to push or pull back the door body, a guide rail is installed on the door body, and the door body is pulled back through the guide rail. When a door opening signal is received and it is detected that the door body is in an open state, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to operate at the adjusted latest duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force of the guide rail on the door body is greater than the closing resistance of the door body. Figure 2 The flowchart of the refrigerator door body anti-pinch hand control method of the present embodiment is shown in FIG. 2, which includes the following steps: Figure 2 ​

[0058] Step S201, receiving a door opening signal;

[0059] Step S202, detecting whether the door body is in an open door state, if yes, executing step S203, otherwise, executing step S204;

[0060] Step S203, adjusting the duty cycle of the push rod motor, and controlling the push rod motor to operate at the latest duty cycle after adjustment, so that the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body are greater than the door closing resistance;

[0061] Step S204, not starting the push rod motor, and not performing the door opening process.

[0062] At present, many embedded refrigerators are designed without handles or with hidden handles for aesthetics. For such refrigerators, during the door closing process, they are often only reminded by soft stickers or warning signs, which inevitably causes user hand injury. Therefore, in the embodiment, the push rod of the refrigerator is used to achieve active anti-pinch.

[0063] Specifically, a push rod motor and a push rod are installed at the bottom of the refrigerator. The push rod motor can be forward rotated to control the push rod to push out, and the push rod motor can be reversed to control the push rod to retract. During the opening of the refrigerator door body, the push rod motor controls the push rod to push out, and then the push rod pushes the refrigerator door body out, thereby realizing the opening of the refrigerator door body. A guide rail is also provided in the refrigerator, and the guide rail is connected with a spring. The guide rail is pulled by the force of the spring. When the refrigerator door body enters the automatic closing range of the guide rail (i.e. the maximum pulling range of the spring), the guide rail generates a guide rail back pulling force on the door body entering the automatic closing range of the guide rail through the spring, so that the refrigerator door body is closed under the action of the back pulling force of the guide rail and the back retraction force of the push rod. The maximum distance of the push rod pushed out is less than the automatic closing range of the guide rail. The refrigerator door body in the embodiment can be the door body of the refrigeration compartment or the door body of the freezer compartment, which is specifically set according to the actual position of the refrigerator to the compartment, and the embodiment does not make specific limitation.

[0064] In the present embodiment, after receiving the door opening signal, which can be a pressing signal or a knocking signal, etc., the refrigerator is automatically opened by pressing or knocking. At this time, it represents that the user has the demand to open the refrigerator to get the goods, but it can also be a mistake, for example, a child running causes an accidental impact. In this case, the user does not have the demand to open the refrigerator door to get the goods. Therefore, in order to prevent the mistake, after receiving the door opening signal, the refrigerator detects the opening and closing state of the refrigerator door again. In the present embodiment, the opening and closing state of the refrigerator door is detected by the door magnetic switch. The door magnetic switch is preset with a distance, wherein the distance is less than the hand clamping distance of the user on the door handle. When the distance between the refrigerator door and the cabinet is greater than the preset distance of the door magnetic switch, it represents that the refrigerator door is in the open state, otherwise, it represents that the refrigerator is in the closed state. When the door magnetic switch detects that the refrigerator door is in the open state, it represents that the user is opening the door to get the goods at this time, and the anti-pinch hand program needs to be started.

[0065] Adjust the duty cycle of the push rod motor, control the push rod motor to run at the latest duty cycle, and at this duty cycle, the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the door body closing resistance. Specifically, it includes the following cases:

[0066] Case one:

[0067] The door body is separated from the guide rail and the automatic closing range, at this time, the door body is also separated from the push rod, at this time, the push rod is only subjected to the force of the push rod motor, the guide rail has no force on the door body, at this time, the push rod motor can be controlled to rotate forward or reverse with a small duty ratio. The duty ratio is set differently according to the push rod motor of different refrigerators. The push rod motor is controlled to rotate forward with a small duty ratio, so that the pushing force of the push rod motor on the push rod is greater than the closing resistance of the door body, wherein the closing resistance of the door body at this time is only the resistance of the push rod, and the push rod is continuously pushed out under the duty ratio, if the push rod has reached the maximum push-out distance at this time, the state of the push rod is to keep at the maximum distance of the push rod. For example, the duty ratio is set to 22%, at this time, the pushing force of the push rod is 15N, and the resistance of the push rod is 10N, the push rod is slowly pushed out under the duty ratio to the maximum push-out distance. If the user forces the door to close at this time, the door body is blocked by the push rod, which can prevent the user from being pinched by the door. The push rod motor is controlled to rotate reverse with a small duty ratio, at this time, the retraction force of the push rod motor on the push rod is greater than the closing resistance of the door body, under the force, the state of the push rod is to slowly retract, wherein the smaller the duty ratio, the slower the retraction speed. For example, the duty ratio is set to 22%, at this time, the retraction force of the push rod is 15N, and the resistance of the push rod is 10N, the push rod is slowly retracted under the duty ratio. If the user forces the door to close at this time, the push rod is in a slow retraction state, and the retraction speed is slow, so that the push rod is still in an extended state, and the door body is still blocked by the push rod, thereby preventing the user from being pinched by the door. The setting of the duty ratio is determined according to the actual configuration of the refrigerator, and can be tested according to the determined refrigerator.

[0068] Case two:

[0069] The door enters the automatic closing range of the guide rail. At this time, the door is subject to the force of the guide rail. When the door contacts the push rod, the door transmits the force of the guide rail to the push rod. At this time, the push rod is subject to the force of the push rod motor and the indirect force of the guide rail. At this time, the push rod motor can also be controlled to rotate forward or reverse with a smaller duty cycle. When the push rod motor is controlled to rotate forward with a smaller duty cycle, the push rod motor pushes the push rod out, and the force of the guide rail pulls it back. The two are opposite. Similarly, under this duty cycle, the sum of the force of the push rod motor on the push rod and the force of the guide rail on the door body is greater than the closing resistance of the door body, which can achieve the door body being slowly pulled back under the force of the guide rail. For example, if the tension of a single guide rail spring is 20N, and two guide rail springs pull the guide rail simultaneously, resulting in a guide rail return force of 40N, then the push rod motor is controlled to rotate forward with a duty cycle of 22%, which generates a 15N push rod push force. At this time, the guide rail return force is 40N, which is in the reverse direction. The push rod resistance is 10N, and the sum of the push rod and guide rail return forces is 25N. This force is the return force, which is greater than the push rod resistance (door closing resistance), causing the door to be pulled back. Since the door has entered the automatic closing range, it can be determined that the user needs to close the door. However, since the push rod is still extended at this time, even if the user closes the door forcefully, the door will be blocked by the push rod, thereby preventing the user from pinching their hands when closing the door. When the push rod motor is controlled to reverse with a smaller duty cycle, the push rod motor retracts the push rod. At this time, the relationship between the forces acting on the push rod is the retraction force of the push rod motor on the push rod and the indirect pull-back force of the guide rail on the push rod. At this time, the sum of the forces acting on the push rod motor on the push rod and the forces acting on the door body by the guide rail is still greater than the closing resistance of the door body, and the push rod is still in an extended state, which can prevent the door body from closing directly. At this duty cycle, the push rod and guide rail can pull the door body to close slowly, realizing automatic door closing. Among them, the duty cycle setting depends on the actual configuration of the refrigerator and can be obtained by testing based on a predetermined refrigerator.

[0070] Case 3:

[0071] On the basis of the above case one, the push rod motor can be controlled to rotate forward and reverse, when the push rod motor is controlled to rotate forward for a period of time at a small duty ratio, at this duty ratio, the push-out force of the push rod motor on the push rod is greater than the closing resistance of the door body, so that the push rod is pushed out or kept at the maximum distance; then the push rod motor is controlled to rotate reverse for a period of time at a small duty ratio, at this duty ratio, the retraction force of the push rod motor on the push rod is greater than the closing resistance of the door body, so that the push rod is pulled back. This cycle can keep the push rod in a dynamic extension and contraction state, and the push rod is always in an extended state, thereby preventing the user from being pinched by the door during this period. For example, the push rod motor is controlled to rotate forward at a duty ratio of 22%, at this time the push-out force of the push rod is 15N and the push rod resistance is 10N, so that the push rod is pushed out for a period of time; then the push rod motor is controlled to rotate reverse at a duty ratio of 22%, at this time the retraction force of the push rod is 15N and the push rod resistance is 10N, so that the push rod is pulled back for a period of time, and this cycle can ensure that the push rod is always kept in an extended state, preventing the user from being pinched by the door. The setting of the duty ratio is determined according to the actual configuration of the refrigerator, and can be obtained by testing the determined refrigerator.

[0072] Case four:

[0073] On the basis of the above-mentioned case two, the push rod motor can be controlled to rotate forward and reverse in combination. When the push rod motor is controlled to rotate forward for a period of time at a small duty ratio, the sum of the push-out force of the push rod motor on the push rod and the force of the guide rail on the door body is ensured to be greater than the closing resistance of the door body at this duty ratio. Since the push-out force of the push rod and the indirect force of the guide rail on the push rod are two opposite forces on the push rod, and the sum of the forces is greater than the closing resistance of the door body, the door body is closed at a slower speed. Then the push rod motor is controlled to rotate reverse for a period of time at a small duty ratio, the sum of the retraction force of the push rod motor on the push rod and the force of the guide rail on the door body is ensured to be greater than the closing resistance of the door body at this duty ratio. At this time, the retraction force of the push rod and the indirect force of the guide rail on the push rod are two forces in the same direction on the push rod, and the sum of the forces is greater than the closing resistance of the door body. The increase in force will promote the closing speed of the door body. This cycle is repeated to achieve the closing of the door body at a fast and slow speed under the action of the push rod force and the guide rail force. Similarly, since the push rod is still in the extended state during this process, it can prevent the user from being pinched by the door when closing it. For example, the spring tension of a single guide rail is 15N, and that of two guide rails is 30N. The push rod motor is controlled to rotate forward at a duty ratio of 60%, generating a push-out force of 50N on the push rod. At this time, the resistance of the push rod is 15N, and the guide rail back tension on the push rod is 30N. The push-out force of the push rod is 50N, and the two forces are in opposite directions. The sum of the guide rail back tension and the push-out force of the push rod is 20N, which is greater than the resistance of the push rod 15N, so that the push rod is pushed out for a period of time. Then the push rod motor is controlled to rotate reverse at a duty ratio of 22%, generating a retraction force of 15N on the push rod. At this time, the resistance of the push rod is 10N, and the push rod still receives the indirect back tension of the guide rail 30N. The sum of the retraction force of the push rod and the force of the guide rail is 45N, which is greater than the resistance of the push rod 10N, so that the push rod is retracted for a period of time. This cycle ensures that the push rod remains in the extended state. The setting of the duty ratio is determined according to the actual configuration of the refrigerator, and can be obtained by testing the determined refrigerator.

[0074] In summary, when the door body of the refrigerator is in the open door state, the duty ratio of the push rod motor is adjusted so that the sum of the force of the push rod motor on the push rod and the force of the guide rail on the door body is greater than the closing resistance of the door body. The push rod can be kept in the extended state to prevent the user from being pinched by the door when closing it during this period.

[0075] In some embodiments, upon receiving an open door signal and detecting that the door body is in an open door state, the duty ratio of the push rod motor is adjusted, and the push rod motor is controlled to operate at the adjusted latest duty ratio to make the sum of the force of the push rod motor on the push rod and the force of the guide rail on the door body greater than the closing resistance of the door body.

[0076] The cycle process is performed until the door body is closed, and the cycle process includes:

[0077] adjusting the duty cycle of the push rod motor in a preset first time length, and controlling the push rod motor to reverse at the latest first duty cycle after adjustment, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the closing resistance of the door body;

[0078] adjusting the duty cycle of the push rod motor in a preset second time length, and controlling the push rod motor to forward at the latest second duty cycle after adjustment, so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the closing resistance of the door body; wherein the latest duty cycle after adjustment includes the latest first duty cycle and the latest second duty cycle.

[0079] Specifically, the embodiment is a further fine control of the push rod motor, which can set different duty cycles to control the operation of the push rod motor in two time periods. That is, the duty cycle is divided into a first duty cycle and a second duty cycle. In the first time length, the first duty cycle is set to control the push rod motor to reverse, and under the control of the first duty cycle, the push rod motor generates a retracting force on the push rod. At this time, regardless of whether the push rod is indirectly acted on by the guide rail, the sum of the retracting force of the push rod motor on the push rod and the force of the guide rail on the door body is greater than the closing resistance of the door body, so that the push rod can be retracted. Then in the second time length, the second duty cycle is set to control the push rod motor to forward, and under the control of the second duty cycle, the push rod motor generates a pushing force on the push rod. At this time, regardless of whether the push rod is indirectly acted on by the guide rail, the sum of the pushing force of the push rod motor on the push rod and the force of the guide rail on the door body is greater than the closing resistance of the door body, so that the push rod can be pushed out. The force of the push rod motor on the push rod and the closing resistance of the door body are always opposite. In the first time length, the retracting force of the push rod motor on the push rod and the indirect force of the guide rail on the push rod are in the same direction, while in the second time length, the pushing force of the push rod motor on the push rod and the indirect force of the guide rail on the push rod are in opposite directions. In order to push out the push rod, the second duty cycle needs to be greater than the first duty cycle. Through the alternating cycle of the control mode of the first time length and the second time length, the retraction and pushing out of the push rod are controlled until the push rod is completely retracted and the cycle is stopped. Through this alternating cycle mode, the retraction speed of the push rod can be slowed down, and the push rod can be kept in a longer extended state, thereby preventing the user from being pinched by the door during this period. The setting of the duty cycle is determined according to the actual configuration of the refrigerator, and can be obtained by testing the determined refrigerator.

[0080] In another embodiment, when the door body enters the automatic closing range of the guide rail, it further comprises:

[0081] Adjust the duty cycle of the push rod motor, and control the push rod motor to reverse at the latest third duty cycle after adjustment within the preset first time length, so that the push rod retracts by a first distance; then adjust the duty cycle of the push rod motor, and control the push rod motor to rotate forward at the latest fourth duty cycle after adjustment within the preset second time length, so that the push rod retracts by a second distance, wherein the first distance is greater than the second distance.

[0082] Specifically, in the above embodiment, the duty cycle of the push rod motor is controlled in the alternating cycle mode of the first time length and the second time length. In this embodiment, the position sensor, radar, ultrasonic wave, and other distance testing devices can also be used to detect whether the door body enters the automatic closing range of the guide rail, so as to achieve more accurate control of the duty cycle. When the distance testing device detects that the refrigerator door body enters the automatic closing range of the guide rail, at this time, the push rod is indirectly affected by the force of the guide rail. At this time, within the first time length, the first duty cycle can be reduced, and the push rod motor is controlled to retract the push rod by a first distance at the third duty cycle after reduction; then, within the second time length, the second duty cycle is increased, and the push rod motor is controlled to push the push rod by a second distance at the fourth duty cycle after increase, and the first distance is greater than the second distance. The push rod motor is controlled to cycle at the third duty cycle and the fourth duty cycle. Since the refrigerator door body is in the automatic closing range of the guide rail at this time, the door closing operation needs to be performed, therefore, the first distance of retraction is greater than the second distance of pushing, and the distance of the push rod movement can be controlled to ensure that the refrigerator door body is slowly closed, and since the speed of closing the door is slowed down, the user can be prevented from being pinched by the door. The setting of the duty cycle is determined according to the actual configuration of the refrigerator, and can be tested according to the determined refrigerator.

[0083] In some embodiments, when the door body does not enter the automatic closing range of the guide rail, it further includes:

[0084] Adjust the duty cycle of the push rod motor, and control the push rod motor to reverse at the latest fifth duty cycle after adjustment within the preset first time length, so that the push rod retracts by a third distance; then adjust the duty cycle of the push rod motor, and control the push rod motor to rotate forward at the latest sixth duty cycle after adjustment within the preset second time length, so that the push rod retracts by a fourth distance, wherein the fourth distance is greater than the third distance.

[0085] Specifically, in the above embodiment, whether the door body enters the automatic closing range of the guide rail is detected by the distance detection device, and the control scheme is optimized when the door body does not enter the automatic closing range of the guide rail. When the distance detection device detects that the door body does not enter the automatic closing range of the guide rail, at this time, the push rod is not subjected to the indirect force of the guide rail, and the door body is still in an open state, and the door body does not need to be closed. In the first time length, the duty cycle needs to be increased on the basis of the third duty cycle to obtain the fifth duty cycle, and under the control of the fifth duty cycle, the push rod is retracted by a third distance. Then, in the second time length, the duty cycle is reduced on the basis of the fourth duty cycle to obtain the sixth duty cycle, and under the control of the sixth duty cycle, the push rod is pushed out by a fourth distance, and the fourth distance is greater than the third distance. The push rod motor is controlled to cycle at the fifth duty cycle and the sixth duty cycle. Since the door body of the refrigerator does not enter the automatic closing range of the guide rail at this time, the door closing operation is not needed, and the push rod needs to be kept in an extended state, therefore, the fourth distance pushed out is controlled to be greater than the third distance retracted, and the control of the movement distance of the push rod can ensure that the push rod is kept in an extended state, preventing the user from being pinched when closing the door. The setting of the duty cycle is determined according to the actual configuration of the refrigerator, and can be obtained by testing the determined refrigerator.

[0086] In another embodiment, in a preset first time length, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to reverse at the adjusted latest first duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force of the guide rail on the door body is greater than the door closing resistance, comprising:

[0087] determining whether the door body enters the automatic closing range of the guide rail, if yes, adjusting the duty cycle of the push rod motor, and controlling the push rod motor to reverse at the adjusted latest seventh duty cycle, so that the sum of the retraction force generated by the push rod motor on the push rod and the pull-back force of the guide rail on the door body is greater than the door closing resistance; otherwise, adjusting the duty cycle of the push rod motor, and controlling the push rod motor to reverse at the adjusted latest eighth duty cycle, so that the retraction force generated by the push rod motor on the push rod is greater than the door closing resistance; wherein the latest first duty cycle includes the latest seventh duty cycle and the latest eighth duty cycle.

[0088] In a preset second time length, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to forward at the adjusted latest second duty cycle, so that the sum of the force generated by the push rod motor on the push rod and the force of the guide rail on the door body is greater than the door closing resistance, comprising:

[0089] If the door body enters the automatic closing range of the guide rail, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate in the positive direction at the latest ninth duty cycle after adjustment, so that the sum of the push-out force of the push rod motor on the push rod and the pull-back force of the guide rail on the door body is greater than the door closing resistance; otherwise, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate in the positive direction at the latest tenth duty cycle after adjustment, so that the push-out force of the push rod motor on the push rod is greater than the door closing resistance; wherein the latest second duty cycle includes the latest ninth duty cycle and the latest tenth duty cycle.

[0090] Specifically, in the process of alternatingly controlling the operation of the push rod motor by the first time length and the second time length, the embodiment further optimizes the process.

[0091] In the first time length, whether the door body enters the automatic closing range of the guide rail is detected by the distance device. If it is detected that the door body enters the automatic closing range of the guide rail, at this time, the push rod will be indirectly acted on by the guide rail, at this time, the push rod will be retracted under the retraction force of the push rod motor and the indirect action of the guide rail, and the duty cycle can be appropriately reduced to obtain a seventh duty cycle. The push rod motor is reversed under the control of the seventh duty cycle, as long as the sum of the retraction force of the push rod motor on the push rod and the pull-back force of the guide rail on the door body is greater than the door closing resistance, the push rod is retracted, thereby slowly driving the door body to close. If it is detected that the door body does not enter the automatic closing range of the guide rail, the seventh duty cycle needs to be appropriately increased to obtain an eighth duty cycle. At this time, only the force of the push rod motor on the push rod exists, without the indirect action of the guide rail, and the push rod needs to overcome the door closing resistance with greater force to achieve the retraction of the push rod. The push rod motor is reversed under the control of the eighth duty cycle, as long as the retraction force of the push rod motor on the push rod is greater than the door closing resistance, the push rod is slowly retracted, thereby preventing rapid retraction and playing a role in preventing hand clamping. Compared with the above embodiment, the movement distance of the push rod is not specifically limited in the embodiment. The latest first duty cycle includes the latest seventh duty cycle and the latest eighth duty cycle.

[0092] In the second time length, whether the door body enters the automatic closing range of the guide rail is detected by the distance device. If it is detected that the door body enters the automatic closing range of the guide rail, at this time, the push rod is indirectly acted on by the guide rail, at this time, the push rod is pushed out under the pushing force of the push rod motor against the indirect action of the guide rail (at this time, the guide rail force is negative) and the door body closing resistance. The duty cycle needs to be appropriately increased to obtain a ninth duty cycle. The push rod motor is controlled to rotate in the positive direction under the ninth duty cycle. The pushing force of the push rod motor on the push rod needs to be greater than the sum of the indirect action of the guide rail (at this time, the guide rail force is negative) and the door body closing resistance, so as to realize the pushing out of the push rod, thereby slowing down the closing speed of the door body. If it is detected that the door body does not enter the automatic closing range of the guide rail, the tenth duty cycle needs to be appropriately reduced on the basis of the ninth duty cycle. At this time, only the force of the push rod motor on the push rod exists without the hindering of the indirect action of the guide rail. The push rod can overcome the door body closing resistance with a smaller force to realize the pushing out of the push rod. The push rod motor is controlled to rotate in the positive direction under the tenth duty cycle. As long as the pushing force of the push rod motor on the push rod is greater than the door body closing resistance, the pushing out of the push rod can be realized, so that the push rod remains in the extended state, thereby playing the role of preventing the user from being pinched when closing the door. Compared with the above-mentioned embodiment, the movement distance of the push rod is not specifically limited in this embodiment. The latest second duty cycle includes the latest ninth duty cycle and the latest tenth duty cycle. The setting of the duty cycle is determined according to the actual configuration of the refrigerator. The test can be performed according to the determined refrigerator.

[0093] In some embodiments, the door opening signal is a pressure signal received by the door body.

[0094] Specifically, as described in the above-mentioned embodiment, the control program of the anti-pinch function is started only after the door opening signal of the door body is received. In this embodiment, the pressure signal received by the door body is used as the door opening signal. A pressure threshold is set in advance. When the pressure received by the door body exceeds the pressure threshold, the pressure signal is determined to be the door opening signal of the refrigerator door body, and the anti-pinch control program of the refrigerator door body is started. Otherwise, no operation is performed, and the refrigerator door body remains closed.

[0095] In another embodiment, in the case of receiving the door opening signal, before adjusting the duty cycle of the push rod motor after detecting that the door body is in the open state, the method further comprises:

[0096] In the case of receiving the door opening signal, the push rod motor is controlled to rotate in the positive direction for a preset third time length, so that the pushing force of the push rod is greater than the sum of the pull-back force of the guide rail on the door body and the door body closing resistance, and the push rod is pushed to the maximum distance. The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate in the negative direction at the adjusted latest eleventh duty cycle for a preset fourth time length, so that the retracting force of the push rod is 0, and the opening and closing state of the door body is detected.

[0097] Specifically, in the case of receiving the door opening signal, the duty cycle of the push rod motor is adjusted, at which the push-out force of the push rod motor on the push rod needs to be greater than the sum of the pull-back force of the guide rail on the door body and the door body closing resistance, and the push rod motor is controlled to forward rotate for a third time length at the duty cycle, so that the push rod pushes the door body open, and the third time length needs to satisfy that the push rod motor pushes the push rod to the maximum distance of the push rod. After the push rod is pushed to the maximum distance, the duty cycle of the push rod motor is adjusted to obtain an eleventh duty cycle, the push rod motor is controlled to reverse at the eleventh duty cycle, and at the eleventh duty cycle, the retraction force of the push rod is 0, so that the push rod remains in the state of the farthest distance. After that, the door opening and closing state of the door body is detected by the door magnetic switch. Wherein, the distance between the door body and the box body exceeding the detection distance preset by the door magnetic switch is that the door body is in the open state. Wherein, the setting of the duty cycle is determined according to the actual configuration of the refrigerator, and can be obtained by testing the determined refrigerator.

[0098] In another embodiment, before controlling the push rod motor to forward rotate for a preset third time length, further comprising:

[0099] determining whether the door body meets the door opening condition, if yes, controlling the push rod motor to forward rotate for a preset third time length; otherwise, controlling the push rod motor to stop running; wherein the door opening condition is that other door bodies of the refrigerator are not in the open state.

[0100] Specifically, after receiving the door opening signal, the duty cycle of the push rod motor is controlled to push the door body open before the push rod, and the door opening condition is detected. There are generally more than two door bodies in the refrigerator, when the door body where the push rod is located receives the door opening signal, the other door bodies need to be judged. The other door bodies are also provided with door magnetic switches, and the door magnetic switches are used to judge whether the other door bodies are in the open state. If there is a door body in the open state, the push rod motor is not controlled, and the door body receiving the door opening signal is not pushed open, so as to prevent cross-hand pinch between two door bodies. Only when the other door bodies are closed, the current door body is pushed open.

[0101] In some embodiments, in the case of receiving the door opening signal, and detecting that the door body is in the closed state, comprising: adjusting the duty cycle of the push rod motor, and controlling the push rod motor to reverse at the adjusted latest twelfth duty cycle, so that the retraction force of the push rod is greater than the resistance of the push rod, so that the door body is directly closed.

[0102] Specifically, after receiving the door opening signal, the door body is pushed open by the action of the push rod motor on the push rod, and then the door body is detected by the door magnetic switch to be in the door closing state, that is, after the door body is opened, the user does not perform the door opening operation to take the object, and the door body has entered the detection range of the door magnetic switch, which is smaller than the distance of the user being pinched by hand. At this time, the duty cycle of the push rod motor can be adjusted to obtain the latest twelfth duty cycle, and the push rod motor is controlled under the twelfth duty cycle to make the retraction force of the push rod greater than the resistance of the push rod. At the same time, the door body also has the action of the guide rail pulling force, so as to realize the rapid closing of the door body. At this time, since the door body has entered the detection range of the door magnetic switch, the distance between the door body and the cabinet is less than the width of the user's hand, and the user cannot put the hand in at this time. The rapid closing can ensure the sealing of the refrigerator door body and prevent the user from being pinched by hand.

[0103] In another embodiment, during the process of alternately controlling the push rod motor to operate by the first time length and the second time length, when the door body is detected to be in the door closing state, the method further comprises: adjusting the duty cycle of the push rod motor, and controlling the push rod motor to reverse at the latest thirteenth duty cycle adjusted, so that the retraction force of the push rod is greater than the resistance of the push rod, so that the door body is directly closed.

[0104] Specifically, during the process of alternately controlling the push rod motor to operate by the first time length and the second time length, the opening and closing state of the door body is detected in real time by the door magnetic switch, and when the door body is detected to be in the door closing state, that is, the door body has entered the state of not being pinched by hand, the duty cycle of the push rod motor is adjusted to obtain the latest thirteenth duty cycle, and the push rod motor is controlled under the thirteenth duty cycle to make the retraction force of the push rod greater than the resistance of the push rod. At the same time, the door body also has the action of the guide rail pulling force, so as to realize the rapid closing of the door body. At this time, since the door body has entered the detection range of the door magnetic switch, the distance between the door body and the cabinet is less than the width of the user's hand, and the user cannot put the hand in at this time. The rapid closing can ensure the sealing of the refrigerator door body and prevent the user from being pinched by hand. The setting of the duty cycle is determined according to the actual configuration of the refrigerator, and can be obtained by testing the determined refrigerator.

[0105] Figure 3 is a flow chart of another refrigerator door body anti-pinch control method of the embodiment, as shown in Figure 3 the flow chart includes the following steps:

[0106] Step S301, after receiving the door opening signal, detecting whether the door body is in the door opening state, if yes, executing step S302, otherwise, executing step S309;

[0107] Step S302, controlling the push rod motor to ​The duty cycle is set to forward for S1 second, so that the push rod pushing force is greater than the sum of the guide rail's pulling force on the door body and the door body's closing resistance, and the push rod is pushed to the maximum distance; the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to reverse for S2 seconds with the latest adjusted duty cycle, so that the push rod retraction force is 0;

[0108] Step S303, control the push rod motor to % duty cycle is reversed for S3 seconds, so that the sum of the push rod retraction force and the guide rail's pulling force on the door body is greater than the door body closing resistance, so that the push rod retracts at a slow speed;

[0109] Step S304, judging whether the door is in an open state through the door magnetic switch, if so, executing step S305, otherwise executing step S309;

[0110] Step S305: Control the push rod motor to % duty cycle reversal S4 seconds, in % duty cycle, so that the sum of the push rod retraction force and the guide rail's pulling force on the door body is greater than the door body's closing resistance, causing the push rod to retract slowly;

[0111] Step S306, judging whether the door is in an open state through the door magnetic switch, if so, executing step S307, otherwise executing step S309;

[0112] Step S307, control the push rod motor to % duty cycle forward S5 seconds, % duty cycle, so that the push rod pushing force is greater than the sum of the guide rail's pulling force on the door body and the door body's closing resistance, so that the push rod is pushed out slowly;

[0113] Step S308, judging whether the door is in an open state through the door magnetic switch, if so, executing step S305, otherwise executing step S309;

[0114] Step S309, control the push rod motor to The duty cycle is reversed for S6 seconds to quickly retract the push rod and close the door quickly.

[0115] Through the above steps S301 to S309, compared with the physical protection or education methods in the prior art, this embodiment controls the force of the push rod by controlling the duty cycle of the motor, so that the push rod remains in an extended state when the user opens the door, and the push rod blocks the user's hands from being pinched when closing the door.

[0116] A refrigerator door body anti-pinch hand control device is also provided in the embodiment, which is used to realize the above-mentioned embodiments and preferred embodiments and has been described above. The terms "module", "unit", "sub-unit" and the like used below can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiments is preferably realized in software, realization in hardware or a combination of software and hardware is also possible and contemplated.

[0117] Figure 4 Fig. 4 is a structural diagram of a refrigerator door body anti-pinch hand control device according to the embodiment, as shown in the figure, the device 40 comprises a detection module 41, a judgment module 42 and a control module 43, wherein, Figure 4

[0118] The detection module 41 is used to detect an opening door signal of the door body;

[0119] The judgment module 42 is used to judge whether the door body meets an opening door condition in the case of receiving the opening door signal;

[0120] The control module 43 is used to adjust the duty cycle of the push rod motor and control the push rod motor to operate at the adjusted latest duty cycle to make the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body greater than the door body closing resistance in the case of receiving the opening door signal and detecting that the door body is in an opening door state.

[0121] It should be noted that the above-mentioned modules can be functional modules or program modules and can be realized by software or hardware. For the modules realized by hardware, the above-mentioned modules can be located in the same processor; or the above-mentioned modules can also be located in different processors in any combination.

[0122] A refrigerator is also provided in the embodiment, which applies the refrigerator door body anti-pinch hand control method described in any one of the above-mentioned embodiments, Figure 5 Fig. 5 is a structural diagram of a refrigerator according to the embodiment, as shown in the figure, the refrigerator comprises a door body 51, a guide rail assembly 52, a pressing sensor 53, a push rod motor (not shown) and a door magnetic switch 54, wherein, Figure 5 The pressing sensor 53 is used to detect a pressing opening door signal of the door body 51;

[0123] The guide rail assembly 52 is used to generate a guide rail back pulling force on the door body 51;

[0124] The push rod motor is used to generate a push rod pushing force and a push rod back pulling force on the push rod 55 of the door body 51;

[0125]

[0126] ​​The door magnetic switch 54 is used to detect the open / close state of the door body 51 .

[0127] Specifically, if Figure 5 As shown, the refrigerator in this embodiment is a drawer-type refrigerator, in which the refrigerator door body is connected to the drawer, and the door is opened and closed by pushing and pulling, that is, the refrigerator door is pushed out or retracted horizontally along the guide rail during the opening and closing process. The pressure sensor 53 is installed on the outside of the box body, and the pressure is transmitted to the pressure sensor 53 through the door body to detect the door opening signal; the guide rail assembly 52 is installed in the box body, and when the door body 51 enters the automatic closing range of the guide rail, it is connected to the door body 51 and the door body 51 is pulled back by the pull-back force of the guide rail; the push rod motor is connected to the push rod 55, and the push rod 55 is installed at the front side of the bottom end of the box body and can be extended and retracted. By adjusting the duty cycle of the push rod motor, the push rod motor can generate different retraction and extension forces on the push rod to control the retraction and extension of the push rod 55; the door magnetic switch 54 is installed in the box body to detect the door opening and closing state of the door body 51.

[0128] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0129] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0130] It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0131] In addition, in conjunction with the refrigerator door anti-pinch control method provided in the above embodiments, a storage medium may also be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by a processor, any of the refrigerator door anti-pinch control methods in the above embodiments is implemented.

[0132] It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0133] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0134] It is apparent that the drawings depict only some embodiments or examples of the application and are therefore not to be considered limiting of its scope, for the application can admit to other similarly effective arrangements, structures, and actions, set forth in the following claims, without the use of creative faculty and collaboration of a inventor. Also, it is apparent that some design, manufacturing, and production efforts, as set forth in the disclosure, can be a complex and long process, but some modifications, as set forth in the disclosure, are only routine technical means for those of ordinary skill in the art, and should not be considered as a lack of disclosure.

[0135] The word "example" is used herein to mean serving as an example, instance, or illustration. Any aspect or embodiment described herein as "example" is not necessarily to be construed as preferred or advantageous over other aspects or embodiments. The various examples merely accomplish variations on similar devices and techniques. Various modifications are possible in the described embodiments, and other implementations can be made without departing from the scope of the present disclosure. Embodiments of the present disclosure as described herein can be in the form of a system, a method, a process, an apparatus, a software program, an article of manufacture, an data signal, or a transfer medium. The embodiments of the present disclosure can include additional steps, acts, or functions, and some steps or acts can be eliminated as

[0136] Those skilled in the art can understand that all or part of the processes in the above-mentioned 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, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0137] The above-mentioned embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of patent protection. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A refrigerator door anti-pinch control method, characterized in that: In the refrigerator, a push rod is controlled by a push rod motor to push out or pull back a door body, a guide rail is installed on the door body, and the door body is pulled back by the guide rail. The method includes: When a door opening signal is received and it is detected that the door body is in an open state, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to operate at the adjusted latest duty cycle, so that the sum of the force exerted by the push rod motor on the push rod and the force exerted by the guide rail on the door body is greater than the closing resistance of the door body.

2. The refrigerator door anti-pinch control method according to claim 1, characterized in that: When receiving the door opening signal and detecting that the door body is in the door opening state, adjusting the duty cycle of the push rod motor and controlling the push rod motor to operate at the latest adjusted duty cycle so that the sum of the force exerted by the push rod motor on the push rod and the force exerted by the guide rail on the door body is greater than the closing resistance of the door body, including: A cycle is performed until the door is closed, the cycle comprising: Adjusting the duty cycle of the push rod motor within a preset first time period, and controlling the push rod motor to reverse at the adjusted latest first duty cycle, so that the sum of the force exerted by the push rod motor on the push rod and the force exerted by the guide rail on the door body is greater than the closing resistance of the door body; Within a preset second time period, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate forward with the adjusted latest second duty cycle, so that the sum of the force exerted by the push rod motor on the push rod and the force exerted by the guide rail on the door body is greater than the closing resistance of the door body; wherein, the adjusted latest duty cycle includes the latest first duty cycle and the latest second duty cycle.

3. The refrigerator door anti-pinch control method according to claim 2, characterized in that: When the door body enters the automatic closing range of the guide rail, the method further includes: Adjust the duty cycle of the push rod motor and control the push rod motor to reverse with the adjusted latest third duty cycle, so that the push rod retracts a first distance within the preset first time length; then adjust the duty cycle of the push rod motor and control the push rod motor to rotate forward with the adjusted latest fourth duty cycle, so that the push rod retracts a second distance within the preset second time length, wherein the first distance is greater than the second distance.

4. The refrigerator door anti-pinch control method according to claim 2, characterized in that: When the door body does not enter the automatic closing range of the guide rail, the method further includes: Adjust the duty cycle of the push rod motor and control the push rod motor to reverse with the adjusted latest fifth duty cycle, so that the push rod retracts a third distance within the preset first time length; then adjust the duty cycle of the push rod motor and control the push rod motor to rotate forward with the adjusted latest sixth duty cycle, so that the push rod retracts a fourth distance within the preset second time length, wherein the fourth distance is greater than the third distance.

5. The refrigerator door anti-pinch control method according to claim 2, characterized in that: The method of adjusting the duty cycle of the push rod motor within a preset first time period and controlling the push rod motor to reverse at the adjusted latest first duty cycle so that the sum of the force exerted by the push rod motor on the push rod and the force exerted by the guide rail on the door body is greater than the closing resistance of the door body includes: Determine whether the door body enters the automatic closing range of the guide rail, If so, adjusting the duty cycle of the push rod motor and controlling the push rod motor to reverse at the latest seventh duty cycle after adjustment, so that the sum of the retraction force generated by the push rod motor on the push rod and the pull-back force of the guide rail on the door body is greater than the closing resistance of the door body; Otherwise, adjust the duty cycle of the push rod motor and control the push rod motor to reverse with the adjusted latest eighth duty cycle so that the retraction force generated by the push rod motor on the push rod is greater than the closing resistance of the door body; wherein, the latest first duty cycle includes the latest seventh duty cycle and the latest eighth duty cycle.

6. The refrigerator door anti-pinch control method according to claim 2, characterized in that: The step of adjusting the duty cycle of the push rod motor within a preset second time period and controlling the push rod motor to rotate forward at the adjusted latest second duty cycle so that the sum of the force exerted by the push rod motor on the push rod and the force exerted by the guide rail on the door body is greater than the closing resistance of the door body includes: Determine whether the door body enters the automatic closing range of the guide rail, If so, adjusting the duty cycle of the push rod motor and controlling the push rod motor to rotate forward at the latest ninth duty cycle after adjustment, so that the sum of the pushing force generated by the push rod motor on the push rod and the pulling force of the guide rail on the door body is greater than the closing resistance of the door body; Otherwise, the duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to rotate forward with the adjusted latest tenth duty cycle, so that the pushing force generated by the push rod motor on the push rod is greater than the closing resistance of the door body; wherein, the latest second duty cycle includes the latest ninth duty cycle and the latest tenth duty cycle.

7. The refrigerator door anti-pinch control method according to claim 1, characterized in that: The door opening signal is a pressure signal applied to the door body.

8. The refrigerator door anti-pinch control method according to claim 1, characterized in that: In the case of receiving the door opening signal and detecting that the door body is in the door opening state, before adjusting the duty cycle of the push rod motor, the method further includes: When a door opening signal is received, the push rod motor is controlled to rotate forward for a preset third time period, so that the push rod pushing force is greater than the sum of the return force of the guide rail on the door body and the closing resistance of the door body, and the push rod is pushed to the maximum distance; Adjust the duty cycle of the push rod motor, and control the push rod motor to reverse the preset fourth time length with the adjusted latest eleventh duty cycle to make the push rod retraction force 0, and detect the opening and closing state of the door body.

9. The refrigerator door anti-pinch control method according to claim 8, characterized in that: Before controlling the push rod motor to rotate forward for a preset third time period, the method further includes: Determine whether the door body meets the door opening condition. If so, control the push rod motor to rotate forward for a preset third time period; otherwise, control the push rod motor to stop running; wherein, the door opening condition is that other doors of the refrigerator are not in the open state.

10. The refrigerator door anti-pinch control method according to claim 1, characterized in that: When a door opening signal is received and the door is detected to be in a closed state, the method further includes: The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to reverse at the adjusted latest twelfth duty cycle, so that the push rod retraction force is greater than the push rod resistance, so that the door body is directly closed.

11. The refrigerator door anti-pinch control method according to claim 2, characterized in that: During the cycle described in claim 2, when it is detected that the door is in a closed state, the method further comprises: The duty cycle of the push rod motor is adjusted, and the push rod motor is controlled to reverse at the adjusted latest thirteenth duty cycle, so that the push rod retraction force is greater than the push rod resistance, so that the door body is directly closed.

12. A refrigerator door anti-pinch control device, characterized in that: include: Detection module, judgment module and control module, wherein, The detection module is used to detect the door opening signal of the door body; The judging module is configured to judge whether the door body meets the door opening conditions when receiving the door opening signal; The control module is used to adjust the duty cycle of the push rod motor when it receives a door opening signal and detects that the door body is in an open state, and control the push rod motor to operate at the adjusted latest duty cycle so that the sum of the force generated by the push rod motor on the push rod and the force generated by the guide rail on the door body is greater than the closing resistance of the door body.

13. A refrigerator, using the refrigerator door anti-pinch control method according to any one of claims 1 to 11, characterized in that: The refrigerator comprises: a door body, a guide rail assembly, a pressure sensor, a push rod motor and a door magnetic switch, wherein: The pressure sensor is used to detect the door opening signal of the door body; The guide rail assembly is used to generate a guide rail pulling force on the door body; The push rod motor is used to generate a push rod pushing force and a push rod retracting force on the push rod of the door body; The door magnetic switch is used to detect the open / close state of the door body.

14. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the refrigerator door anti-pinch control method according to any one of claims 1 to 11.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the refrigerator door anti-pinch control method according to any one of claims 1 to 11 are implemented.

Images