Door opening control method for fabric processing equipment, electronic equipment and fabric processing equipment

Abstract

This application belongs to the technical field of fabric processing equipment, and particularly relates to a door opening control method, electronic equipment, and fabric processing equipment. The door opening control method includes: responding to a door opening request, controlling a push rod motor to perform a push rod pushing action; during the push rod pushing process, acquiring the limit signal of the limit switch, the door opening signal, and the operating parameters of the push rod motor; when the limit signal and / or the door opening signal are not acquired within a preset travel time, determining the missing limit signal and door opening signal, as well as the matching status of the operating parameters with the preset reference range, to execute a corresponding error correction process. This embodiment can still achieve reliable door opening function even when the limit signal, door opening signal is abnormal, or the push rod travel time deviates from the preset travel time due to the tightness of the door, and can accurately locate abnormal positions, improving the fault tolerance and reliability of the system.

Description

Technical Field

[0001] This application relates to the field of fabric processing equipment technology, and in particular to a door opening control method, electronic equipment, and fabric processing equipment for a fabric processing device. Background Technology

[0002] With the improvement of people's living standards and the development of smart home appliance technology, fabric processing equipment such as washing machines has gradually moved towards automation and intelligence. In order to improve user experience and ease of operation, modern fabric processing equipment is generally equipped with an automatic door opening system, which uses a push rod motor to drive a push rod to automatically open and close the door.

[0003] However, existing door opening control technology for fabric handling equipment still has the following technical problems: First, the stroke control of the push rod motor relies solely on the drive time, and the time it takes for the push rod to reach the limit position is affected by the tightness of the door, resulting in unstable control accuracy and an inability to accurately determine whether the push rod has reached the predetermined position. Second, when the limit switch of the push rod motor malfunctions, or the door opening signal cannot be fed back in a timely and normal manner, the existing controller lacks an effective error correction mechanism, which may cause the motor to fail to perform the door opening operation normally, and may even damage the push rod mechanism. Summary of the Invention

[0004] This application proposes a door opening control method, electronic device, and fabric processing equipment to solve the technical problems of current fabric processing equipment with automatic door opening function, where the stroke control of the push rod motor relies solely on the drive time, resulting in unstable control accuracy, and the push rod motor failing to perform door opening operation normally when the push rod motor or limit switch malfunctions, or when the door switch signal cannot be fed back in a timely and normal manner.

[0005] According to a first aspect of the embodiments of this application, a door opening control method for a fabric processing equipment is provided. The fabric processing equipment includes a machine door and an automatic door opening mechanism cooperating with the machine door. The automatic door opening mechanism includes a push rod, a push rod motor, and a limit switch. The push rod motor is capable of driving the push rod to extend in the direction of opening the machine door and driving the push rod to retract. The limit switch is set at a target extension position of the push rod and is used to issue a limit signal after the push rod reaches the target extension position. The door opening control method includes:

[0006] In response to a door opening request, the push rod motor is controlled to perform a push rod extension action;

[0007] During the push rod extension process, the limit switch limit signal, the door opening signal and the push rod motor operating parameters are acquired;

[0008] When the limit signal and / or the door opening signal are not obtained within the preset travel time, determine the missing status of the limit signal and the door opening signal, as well as the matching status of the working parameters with the preset reference range.

[0009] If the limit signal and the door opening signal are partially or not acquired, and the operating parameters of the push rod motor are within the preset reference range, at least one of the following operations will be performed: signal re-detection waiting, multiple staged push strokes.

[0010] If the limit signal and door opening signal are partially or not acquired, and the operating parameters of the push rod motor exceed the preset reference range, at least one of the following operations will be performed: graded force intermittent propulsion, periodic forward and reverse adjustment, or push rod retraction and re-extraction.

[0011] In this embodiment, during the door opening process, by combining the detection of limit signals, door opening signals, and push rod motor operating parameters, as well as a multiple-trial mechanism, corresponding measures can be taken to resolve the fault when the limit signals and / or door opening signals are abnormal, or when the actual travel time of the push rod when it reaches the target push position deviates from the preset travel time due to the tightness of the door body. This enables reliable door opening function and accurate location of abnormal positions, improving the fault tolerance and reliability of the system.

[0012] In conjunction with the first aspect, in an optional embodiment of this application, the preset stroke duration is the theoretical time required for the push rod motor to drive the push rod from the initial position to the target position.

[0013] In conjunction with the first aspect, in an optional embodiment of this application, the operating parameters include the current and / or voltage of the push rod motor.

[0014] In conjunction with the first aspect, in an optional embodiment of this application, the door opening control method includes at least one of the following:

[0015] When a limit signal is obtained after a preset travel time, but no door opening signal is obtained, if the operating parameters of the push rod motor are within a preset reference range, the door opening signal is obtained again after a preset waiting time. If the door opening signal is obtained within a preset number of retests, the push rod retracts; otherwise, it is determined to be a door opening signal detection malfunction, and the push rod retracts. If the operating parameters of the push rod motor are not within the preset reference range, the push rod motor is corrected by applying force in stages and intermittently pushing, while the changes in operating parameters are monitored in real time. If the operating parameters return to the reference range and a door opening signal is obtained, the push rod retracts. If no door opening signal is obtained after a preset number of retests, the retraction action is performed, and the push rod motor is determined to be faulty or the door is stuck.

[0016] When the preset travel time is reached and an opening signal is received but a limit signal is not received, if the operating parameters of the push rod motor are within the preset reference range, the push rod motor is controlled to continue to perform the push rod extension action for the preset travel time. If a limit signal is received during this period, the push rod retraction action is performed; otherwise, it is determined that the limit switch is faulty and the push rod retraction action is performed. If the operating parameters of the push rod motor are not within the preset reference range, the push rod motor is controlled to perform periodic forward and reverse rotation actions, during which a limit signal is received. If a limit signal is received, the push rod retraction action is performed; otherwise, it is determined that the limit switch is faulty or that there is a mechanical alignment fault.

[0017] If no limit signal or door opening signal is obtained after the preset travel time, and if the operating parameters of the push rod motor are within the preset reference range, the push rod motor will continue to perform the push rod extension action for the preset travel time after each preset waiting time, and acquire the limit signal and door opening signal during this period. If the limit signal and door opening signal are still not acquired after the first preset number of extension attempts, the push rod motor is determined to be faulty, and the fault handling process is executed. If the operating parameters of the push rod motor are not within the preset reference range, the push rod retraction action is executed, and the operating parameters are acquired during this period. If the operating parameters return to the preset reference range after the retraction action, the push rod extension action is executed again. If the operating parameters are still abnormal, the push rod is determined to be stuck.

[0018] In conjunction with the first aspect, in an optional embodiment of this application, the door opening control method further includes:

[0019] When the limit signal and the door opening signal are obtained within the preset travel time, wait for the preset buffer time first, and then control the push rod motor to perform the push rod retraction action.

[0020] During the process of performing the push rod retraction action, the limit signal is continuously acquired, and the acquisition status of the limit signal is determined;

[0021] If no limit signal is received, the push rod motor is controlled to continue performing the push rod retraction action for a preset stroke duration;

[0022] If the limit signal can still be obtained after the second preset number of retraction attempts, it is determined that the limit switch is faulty or the push rod retraction is abnormal, and the fault handling procedure is executed.

[0023] In conjunction with the first aspect, in an optional embodiment of this application, the fault handling process includes: controlling the push rod motor to perform a push rod retraction action for a preset stroke duration, and sending fault information to the user.

[0024] In conjunction with the first aspect, in an optional embodiment of this application, before controlling the push rod motor to perform the push rod extension action in response to the door opening request, a door opening condition determination step is further performed, the door opening condition determination step including:

[0025] Determine whether the preset safe door opening conditions are met;

[0026] If the conditions are not met, the current door opening request will be blocked, and a notification message indicating that the door cannot be opened will be sent.

[0027] In conjunction with the first aspect, in an optional embodiment of this application, the safe door opening conditions include: the temperature inside the fabric processing cylinder is lower than a preset safety threshold, and / or, the drive motor of the fabric processing equipment cylinder is in a stopped state.

[0028] In conjunction with the first aspect, in an optional embodiment of this application, if a door opening request is received again after the reminder information is issued, a forced door opening process is executed, the forced door opening process including: controlling the fabric processing equipment to perform at least one adjustment operation to bring the environment inside the tube to the conditions for door opening.

[0029] In conjunction with the first aspect, in an optional embodiment of this application, the adjustment operation includes at least one of the following: controlling the spray device to spray water into the cylinder, controlling the fan to blow cold air, or controlling the drain pump to drain water when the water level in the cylinder is higher than a preset water level.

[0030] According to a second aspect of the present application, an electronic device is provided, which includes one or more processors and a non-transitory computer-readable storage medium storing program instructions. When the one or more processors execute the program instructions, the one or more processors are used to implement the door opening control method of the fabric processing device provided in the first aspect of the present application.

[0031] According to a third aspect of the embodiments of this application, a fabric processing device is proposed, which employs the door opening control method provided in the first aspect of the embodiments of this application, or includes the electronic equipment provided in the second aspect of the embodiments of this application. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0033] Figure 1 This is a flowchart of the door opening control of the fabric processing equipment according to an embodiment of this application.

[0034] Figure 2 This is the second example of the door opening control flowchart of a fabric handling device according to a specific example.

[0035] Figure 3 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0036] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this embodiment. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this embodiment as detailed in the appended claims.

[0037] The following describes this embodiment in detail with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and examples can be combined with each other.

[0038] The fabric processing equipment in this embodiment has an automatic door opening function, which can be triggered upon receiving a user's door opening command or after the fabric processing equipment has finished running. The fabric processing equipment in this embodiment includes a machine door, a door frame that cooperates with the machine door, and an automatic door opening mechanism. The machine door is closable and mounted on the door frame, and the machine door can emit an opening signal when opened. The automatic door opening mechanism is located on the machine door or door frame and includes a push rod, a push rod motor, and a limit switch. The push rod motor is connected to the push rod and can drive the push rod to extend in the direction of opening the machine door, and also drive the push rod to retract. The limit switch is set at a target extension position of the push rod, which is the position where the push rod can push the machine door open. The limit switch can emit a limit signal when the push rod reaches the target extension position.

[0039] Reference Figure 1 The flowchart shows that the door opening control method in this embodiment includes the following steps:

[0040] S11. In response to the door opening request, control the push rod motor to perform the push rod pushing action;

[0041] S12. During the push rod extension process, acquire the limit switch limit signal, the door opening signal and the push rod motor operating parameters;

[0042] S13. When no limit signal and / or door opening signal are obtained within the preset travel time, determine the missing limit signal and door opening signal, as well as the matching status of the working parameters with the preset reference range.

[0043] S14. If it is detected that the limit signal and the door opening signal are partially or not acquired, and the operating parameters of the push rod motor are within the preset reference range, at least one of the following operations shall be performed: signal re-detection waiting, multiple staged push strokes; if it is detected that the limit signal and the door opening signal are partially or not acquired, and the operating parameters of the push rod motor are outside the preset reference range, at least one of the following operations shall be performed: graded force intermittent push, periodic forward and reverse adjustment, push rod retraction and push-out.

[0044] Specifically, when an automatic door opening request is detected, the controller sends a push rod extension control signal to the push rod motor to achieve automatic door opening. The automatic door opening request can be triggered by an opening command issued by the user through the control panel of the fabric processing equipment or a mobile terminal communicating with the fabric processing equipment, or it can be triggered automatically after the fabric processing equipment has finished running.

[0045] After receiving the push rod extension signal from the controller, the push rod motor executes the push rod extension action. After reaching the target extension position of the push rod, the limit switch will send a limit signal back to the controller. If the door is opened by the push rod, the door will send an opening signal back to the controller.

[0046] During the push rod extension process, the limit switch limit signal, the door opening signal, and the push rod motor operating parameters are acquired in real time or periodically. The push rod motor operating parameters include the current and / or voltage values ​​of the push rod motor. The limit switch signal and the door opening signal determine whether the door can open normally. If a limit switch signal is acquired within the preset travel time, it indicates that the push rod has reached a position where the door can be opened. If an door opening signal is acquired at this time, it indicates that the door has opened. At this point, the controller sends a control signal to the motor to retract the push rod, and the push rod motor executes the push rod retraction action. Preferably, the preset travel time is the theoretical time for the push rod motor to drive the push rod from the initial position to the target position.

[0047] If at least one of the limit signal and the door opening signal is not obtained within the preset travel time, the fault situation is determined by combining the missing limit signal and the door opening signal with the working parameters of the push rod motor. Then, the corresponding error correction process is executed for the fault situation. In this way, even if the limit signal and / or the door opening signal is abnormal, or the actual travel time when the push rod reaches the target push position deviates from the preset travel time due to the tightness of the door, the door opening function can be reliably opened. The abnormal position can be accurately located, which improves the fault tolerance and reliability of the system and reduces the probability of abnormal situations where the door cannot be opened normally when there is a need to open it.

[0048] The error correction process includes controlling the push rod's operating state based on the number of re-checks, waiting time, and / or the signal detection results of extending the push rod's extension action. Specifically, if the limit signal and door opening signal are partially or not acquired, and the push rod motor's operating parameters are within the preset reference range, it indicates that the push rod motor is normal. In this case, at least one of the following operations is performed: signal re-check waiting, multiple staged push strokes, etc., to determine the fault location and eliminate the fault accordingly. If the limit signal and door opening signal are partially or not acquired, and the push rod motor's operating parameters exceed the preset reference range, it may be due to an abnormal situation caused by a push rod motor malfunction. In this case, at least one of the following operations is performed: graded force intermittent push, periodic forward and reverse adjustment, push rod retraction and re-extension.

[0049] Optionally, the door opening control method of this embodiment includes at least one of the following situations:

[0050] Scenario 1: After reaching the preset travel time, a limit signal is received, indicating that the motor has reached the target position where the door can be opened. If no door opening signal is received at this point, and the operating parameters of the push rod motor are within the preset reference range, it indicates that the push rod motor is working normally. The lack of a door opening signal may be due to the door status detection requiring a certain amount of time or a delay in the transmission of the door opening signal to the controller. Therefore, a preset waiting time is needed before re-acquiring the door opening signal to achieve accurate detection of the door status. If an door opening signal is obtained within the preset number of re-checks, it indicates that the door has opened, and the push rod retracts. If no door opening signal is still obtained, it is determined to be a door opening signal detection malfunction, and the push rod retracts. The preset re-check time is, for example, 1 second, and the preset number of re-checks is, for example, 3 times.

[0051] If the operating parameters of the push rod motor are not within the preset reference range, the push rod motor is malfunctioning. This may be due to the push rod appearing to be in position but not applying effective force, or the door being severely jammed, causing the push rod motor to overload. In this case, the push rod motor is corrected by applying force in stages and pushing it intermittently, while the changes in operating parameters are monitored in real time. If the operating parameters return to the reference range and an opening signal is obtained, the push rod is retracted. If an opening signal is still not obtained after a preset number of retest attempts, the retraction action is performed, indicating a push rod motor malfunction or a door jamming malfunction.

[0052] Scenario 2: When the preset travel time is reached, if an opening signal is received but a limit switch signal is not received, and the operating parameters of the push rod motor are within the preset reference range, it indicates that the push rod motor is working normally, and the limit switch may be faulty. In this case, the push rod motor is controlled to continue the push rod extension action for the preset travel time. If a limit switch signal is received during this period, it indicates that the limit switch is not abnormal, and the push rod retraction action is executed; otherwise, it is determined that the limit switch is faulty, and the push rod retraction action is executed.

[0053] If the operating parameters of the push rod motor are not within the preset reference range, it indicates that the push rod motor is malfunctioning. This may be due to a stuck limit switch, the push rod pressing against the limit switch for too long, or a mechanical misalignment between the push rod and the limit switch. In this case, control the push rod motor to perform periodic forward and reverse rotation, and acquire the limit signal during this period. If the limit signal is acquired, execute the push rod retraction action; otherwise, determine that the limit switch is faulty or the mechanical misalignment is faulty.

[0054] Scenario 3: If no limit signal or door opening signal is received after the preset travel time, and the operating parameters of the push rod motor are within the preset reference range, it indicates that the push rod motor is working normally. Then, after each preset waiting time, the push rod motor is controlled to continue executing the push rod extension action for the preset travel time, acquiring the limit signal and door opening signal during this period. If the limit signal is acquired but the door opening signal is not, the error correction process of Scenario 1 is entered. If the door opening signal is acquired but the limit signal is not, the error correction process of Scenario 2 is entered. If neither the door opening signal nor the limit signal is acquired, the push rod motor is controlled to execute the extension action for the preset travel time after another preset waiting time, acquiring the limit signal and door opening signal during both the waiting period and the extension action, repeating this cycle. If no limit signal or door opening signal is acquired after the first preset number of extension attempts, it indicates that the door is still closed, and the push rod motor is determined to be faulty, executing the fault handling process. The preset re-check time is, for example, 1 second, and the first preset number of attempts is, for example, 5 times. The troubleshooting process includes: controlling the push rod motor to perform a push rod retraction action for a preset stroke duration, and sending a fault message to the user, reminding the user that the door cannot be opened by the push rod motor.

[0055] If the working parameters of the push rod motor are not within the preset reference range, it indicates that the push rod motor is malfunctioning and there may be a push rod jamming. In this case, the push rod retraction action is executed, and the working parameters are acquired during the process. If the working parameters return to the preset reference range after the retraction action is executed, the push rod extension action is executed again. If the working parameters are still abnormal, the push rod jamming fault is determined.

[0056] In one optional implementation, when a limit signal and a door opening signal are received within a preset travel time, the push rod motor is controlled to perform a push rod retraction action. This includes: when the limit signal and door opening signal are received within the preset travel time, waiting for a preset buffer time before controlling the push rod motor to perform the push rod retraction action, to prevent the push rod motor from immediately performing the retraction action after finishing the push action, which could lead to motor failure. The preset buffer time is, for example, 200ms.

[0057] In an optional implementation, the door opening control method further includes:

[0058] During the push rod retraction action, the limit signal is continuously acquired and its acquisition status is determined. If no limit signal is acquired, it indicates that the push rod has begun to retract. If the limit signal can still be acquired after a second preset number of retraction attempts, it is determined that the limit switch is faulty or the push rod retraction is abnormal, and the fault handling procedure is executed. The fault handling procedure includes: controlling the push rod motor to perform a push rod retraction action for a preset stroke duration, and issuing a fault message to the user, reminding the user that the push rod motor and limit switch are abnormal. The preset number of attempts is, for example, 3.

[0059] In one optional implementation, before controlling the push rod motor to perform the push rod extension action in response to the door opening request, a door opening condition judgment step is also performed. This step includes determining whether preset safe door opening conditions are met. Safe door opening conditions include: the temperature inside the fabric processing cylinder is below a preset safety threshold, and / or the drive motor of the fabric processing equipment cylinder is in a stopped state. If these conditions are not met, the current door opening request is blocked, and a warning message indicating that the door cannot be opened is issued.

[0060] Specifically, in combination Figure 2 The flowchart shows that when the temperature inside the fabric processing drum is too high or the motor of the fabric processing drum is still rotating, if the user issues an opening control command, in order to prevent the user from being burned by the opening of the machine door or injured by the rotation of the drum, the controller will temporarily block this opening control command and remind the user that the machine door cannot be opened at this time by emitting an invalid sound through a buzzer and flashing the opening button icon.

[0061] In one alternative implementation, if a door opening request is received again after the reminder message has been issued, a forced door opening procedure is executed. This forced door opening procedure includes controlling the fabric handling equipment to perform at least one adjustment operation to bring the environment inside the drum to the conditions for door opening. The adjustment operation includes at least one of the following: controlling the spray device to spray water into the drum, controlling the fan to blow cold air, or controlling the drain pump to drain water when the water level inside the drum is higher than a preset level.

[0062] Specifically, in combination Figure 2 The flowchart illustrates that if the user chooses to force open the door even when the safe opening conditions are not met, and issues the opening command again, the fabric processing equipment enters the forced opening process. In practical applications, the digital display of the fabric processing equipment can show effects such as a running light to indicate that the equipment is in the forced opening process. The forced opening process is as follows: If the temperature inside the fabric processing drum is too high, water is sprayed into the drum using a spray device, or cold air is blown into the drum using a fan to quickly lower the temperature. If the water level inside the drum is too high, the drain pump is activated to drain the water until the water level reaches the opening condition. This embodiment regulates the environment inside the fabric processing equipment drum to quickly meet the opening conditions, thereby improving the user experience.

[0063] The control method employed in this embodiment allows the push rod motor to still open the door even when the limit switch and door opening signal are abnormal, or when the actual travel time of the push rod reaching the target position deviates from the preset travel time due to the tightness of the door. This control process also allows for the identification of abnormal positioning locations and precise error troubleshooting. Furthermore, when the fabric processing equipment does not meet the door opening conditions but the user needs to force the door open, an adjustment operation is performed to bring the internal environment of the fabric processing drum to the required conditions. This allows the user to quickly open the door without waiting excessively, improving the user experience.

[0064] This embodiment proposes an electronic device, which includes one or more processors and a non-transitory computer-readable storage medium storing program instructions. When the one or more processors execute the program instructions, the one or more processors are used to implement the door opening control method of the fabric processing device provided above.

[0065] Specifically, such as Figure 3 As shown, the electronic device includes a processor 100, at least one communication bus 200, a user interface 300, at least one external communication interface 400, and a memory 500. The communication bus 200 is configured to enable communication between these components. The user interface 300 may include a display screen, and the external communication interface 400 may include standard wired and wireless interfaces. The memory 500 stores a door opening control method for a fabric handling device. The processor 100 is used to employ the aforementioned method when executing the door opening control method for the fabric handling device stored in the memory 500.

[0066] This embodiment also proposes a fabric processing device, which employs the door opening control method provided above, or includes the electronic equipment provided above.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0068] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0069] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0070] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital versatile disc (DVD)), or a semiconductor medium (e.g., solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiments of this application can be a non-volatile storage medium; in other words, it can be a non-transient storage medium.

[0071] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling the opening of a fabric processing device, characterized in that, The fabric processing equipment includes a machine door and an automatic door opening mechanism that cooperates with the machine door. The automatic door opening mechanism includes a push rod, a push rod motor, and a limit switch. The push rod motor can drive the push rod to extend in the direction of opening the machine door and drive the push rod to retract. The limit switch is set at a target extension position of the push rod and is used to issue a limit signal after the push rod reaches the target extension position. The door opening control method includes: In response to a door opening request, the push rod motor is controlled to perform a push rod extension action; During the push rod extension process, the limit switch limit signal, the door opening signal and the push rod motor operating parameters are acquired; When the limit signal and / or the door opening signal are not obtained within the preset travel time, determine the missing status of the limit signal and the door opening signal, as well as the matching status of the working parameters with the preset reference range. If the limit signal and the door opening signal are partially or not acquired, and the operating parameters of the push rod motor are within the preset reference range, at least one of the following operations will be performed: signal re-detection waiting, multiple staged push strokes. If the limit signal and the door opening signal are partially or not acquired, and the operating parameters of the push rod motor exceed the preset reference range, at least one of the following operations will be performed: graded force intermittent push, periodic forward and reverse adjustment, and push rod retraction and push-out. The door opening control method also includes: When the limit signal and the door opening signal are obtained within the preset travel time, wait for the preset buffer time first, and then control the push rod motor to perform the push rod retraction action. During the process of performing the push rod retraction action, the limit signal is continuously acquired, and the acquisition status of the limit signal is determined; If the limit signal is not obtained, the push rod motor is controlled to continue to perform the push rod retraction action for a preset stroke duration; if the limit signal can still be obtained after the second preset number of retraction attempts, it is determined that the limit switch is faulty or the push rod retraction is abnormal, and the fault handling process is executed.

2. The door opening control method of the fabric processing equipment according to claim 1, characterized in that, The preset travel time is the theoretical time required for the push rod motor to drive the push rod from the initial position to the target position.

3. The door opening control method of the fabric processing equipment according to claim 1, characterized in that, The operating parameters include the current and / or voltage of the push rod motor.

4. The door opening control method of the fabric processing equipment according to claim 1, characterized in that, The door opening control method includes at least one of the following scenarios: When a limit signal is obtained after a preset travel time, but no door opening signal is obtained, if the operating parameters of the push rod motor are within a preset reference range, the door opening signal is obtained again after a preset waiting time. If the door opening signal is obtained within a preset number of retests, the push rod retracts; otherwise, it is determined to be a door opening signal detection malfunction, and the push rod retracts. If the operating parameters of the push rod motor are not within the preset reference range, the push rod motor is corrected by applying force in stages and intermittently pushing, while the changes in operating parameters are monitored in real time. If the operating parameters return to the reference range and a door opening signal is obtained, the push rod retracts. If no door opening signal is obtained after a preset number of retests, the retraction action is performed, and the push rod motor is determined to be faulty or the door is stuck. When the preset travel time is reached and an opening signal is received but a limit signal is not received, if the operating parameters of the push rod motor are within the preset reference range, the push rod motor is controlled to continue to perform the push rod extension action for the preset travel time. If a limit signal is received during this period, the push rod retraction action is performed; otherwise, it is determined that the limit switch is faulty and the push rod retraction action is performed. If the operating parameters of the push rod motor are not within the preset reference range, the push rod motor is controlled to perform periodic forward and reverse rotation actions, during which a limit signal is received. If a limit signal is received, the push rod retraction action is performed; otherwise, it is determined that the limit switch is faulty or that there is a mechanical alignment fault. If no limit signal or door opening signal is obtained after the preset travel time, and if the operating parameters of the push rod motor are within the preset reference range, the push rod motor will continue to perform the push rod extension action for the preset travel time after each preset waiting time, and acquire the limit signal and door opening signal during this period. If the limit signal and door opening signal are still not acquired after the first preset number of extension attempts, the push rod motor is determined to be faulty, and the fault handling process is executed. If the operating parameters of the push rod motor are not within the preset reference range, the push rod retraction action is executed, and the operating parameters are acquired during this period. If the operating parameters return to the preset reference range after the retraction action, the push rod extension action is executed again. If the operating parameters are still abnormal, the push rod is determined to be stuck.

5. The door opening control method of the fabric processing equipment according to claim 1 or 4, characterized in that, The fault handling process includes: controlling the push rod motor to perform a push rod retraction action for a preset stroke duration, and sending fault information to the user.

6. The door opening control method of the fabric processing equipment according to any one of claims 1-4, characterized in that, Before controlling the push rod motor to perform the push rod extension action in response to the door opening request, a door opening condition determination step is also performed, which includes: Determine whether the preset safe door opening conditions are met; If the conditions are not met, the current door opening request will be blocked, and a notification message indicating that the door cannot be opened will be sent.

7. The door opening control method of the fabric processing equipment according to claim 6, characterized in that, The safe opening conditions include: the temperature inside the fabric processing drum is lower than a preset safety threshold, and / or the drive motor of the fabric processing equipment drum is in a stopped state.

8. The door opening control method of the fabric processing equipment according to claim 6, characterized in that, If a door opening request is received again after the aforementioned reminder message is issued, a forced door opening procedure is executed. The forced door opening procedure includes controlling the fabric handling equipment to perform at least one adjustment operation to bring the environment inside the drum to the conditions for door opening.

9. The door opening control method of the fabric processing equipment according to claim 8, characterized in that, The adjustment operation includes at least one of the following: controlling the spray device to spray water into the cylinder, controlling the fan to blow cold air, or controlling the drainage pump to drain water when the water level in the cylinder is higher than the preset water level.

10. An electronic device, characterized in that, It includes one or more processors and a non-transitory computer-readable storage medium storing program instructions, wherein when the one or more processors execute the program instructions, the one or more processors are used to implement the door opening control method of the fabric handling apparatus according to any one of claims 1-9.

11. A fabric treatment device, characterized in that, The fabric processing equipment employs the door opening control method according to any one of claims 1-9, or includes the electronic equipment according to claim 10.

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