Integral heat pump air conditioner control method, device and system and air conditioner

Abstract

The invention discloses an integral heat pump air conditioner control method, device and system and an air conditioner, and relates to the field of integral heat pump air conditioners. The control method comprises the steps that under the heating working condition, if drainage is started, the actual descending speed of the water level of a water collecting tank is obtained; and when the actual descending speed is smaller than the preset normal descending speed, the drainage pipe is dredged. Under the heating working condition, if drainage is started, it shows that the amount of defrosting water in the water collecting tank is large, and whether a water pipe is blocked or not needs to be detected at the moment. And whether ice blockage or filth blockage occurs, the actual descending speed of the water level of the water collecting tank is reduced, so that whether blockage occurs or not can be determined based on the actual descending speed and the normal descending speed. And when the drainage pipe is blocked, namely the actual descending speed is smaller than the preset normal descending speed, dredging the drainage pipe. According to the scheme, at least one of water pump desilting and ice melting desilting is adopted in drainage pipe desilting, normal use of a water system is guaranteed, and overflow caused by the fact that defrosting water cannot be discharged in time is avoided.

Description

Technical Field

[0001] This application relates to the field of integrated heat pump air conditioner technology, and in particular, to an integrated heat pump air conditioner control method, device and system, and air conditioner. Background Technology

[0002] A packaged air conditioner, simply put, is an air conditioning unit that integrates all the core components of the refrigeration system (compressor, condenser, evaporator, throttling device, etc.) into a single, independent cabinet or casing. This contrasts sharply with the more common split-type air conditioner (indoor unit + outdoor unit). Its working principle involves drawing indoor air into the unit, cooling and dehumidifying it through the internal evaporator coils, and then blowing it back into the room. Simultaneously, the heat generated by the compressor is carried away by outdoor air (or water) through the condenser coils on the other side of the unit and exhausted outdoors. Therefore, it is essentially a complete, independent refrigeration cycle unit. It boasts advantages such as easy installation, simple structure, convenient maintenance, low cost, and no risk of refrigerant leakage.

[0003] Some integrated heat pump air conditioners are prohibited from directly draining water to the outdoor unit by regulations in certain countries. Therefore, the defrost water generated during outdoor heating must be pumped to an indoor water tank for storage or connected to a sewer for disposal, thus solving the problem of handling low-temperature defrost water. However, in actual use, various issues often prevent the defrost water from draining in time, resulting in overflow of low-temperature defrost water from the air conditioner. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, this application provides a control method, device and system for an integrated heat pump air conditioner and an air conditioner, so as to solve the problem that the defrost water in the existing integrated heat pump air conditioner often cannot be discharged in time during heating due to various situations, and the low temperature defrost water overflows in the air conditioner.

[0005] The technical solution adopted by this application to solve its technical problem is: Firstly, a method for controlling an integrated heat pump air conditioner is provided, including: Under heating conditions, if drainage is turned on, the actual rate of drop in the water level of the collection tank can be obtained. When the actual descent speed is less than the preset normal descent speed, the drain pipe is cleared of silt.

[0006] As an optional implementation of this application, the dredging of the drainage pipe includes: The process involves using a water pump for dredging, which includes controlling the water pump to operate cyclically in the following manner until the actual descent rate is greater than or equal to a preset normal descent rate: The machine runs at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed.

[0007] As an optional implementation of this application, the dredging of the drainage pipe includes: The process of de-icing and dredging includes controlling the heating device outside the drain pipe to heat it.

[0008] As an optional implementation of this application, the dredging of the drainage pipe includes: Obtain the outdoor ambient temperature; When the outdoor ambient temperature is less than or equal to the first preset outdoor ambient temperature, de-icing and dredging are carried out. The de-icing and dredging includes: controlling the heating device outside the drain pipe to heat it. When the outdoor ambient temperature is greater than a first preset outdoor ambient temperature, or when the outdoor ambient temperature is less than a second preset outdoor ambient temperature and the duration is greater than a third preset duration, or after a fourth preset duration of de-icing and dredging, water pump dredging is performed. The water pump dredging includes controlling the water pump to operate in a cyclical manner until the actual descent rate is greater than or equal to a preset normal descent rate: The system operates at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed, and the second preset outdoor ambient temperature is less than the first preset outdoor ambient temperature.

[0009] As an optional implementation of this application, it also includes: When using a water pump for dredging, obtain the ratio of the actual descent speed to the preset normal descent speed; A first preset speed and / or a second preset speed are determined based on the ratio, wherein the smaller the ratio, the larger the first preset speed and / or the second preset speed.

[0010] As an optional implementation of this application, it also includes: When carrying out de-icing and dredging, the heating power of the heating device is determined based on the outdoor ambient temperature. The lower the outdoor ambient temperature, the greater the heating power of the heating device.

[0011] As an optional implementation of this application, it also includes: Obtain the outdoor ambient temperature; When the outdoor ambient temperature is lower than the third preset outdoor ambient temperature, the heating device outside the drain pipe is controlled to heat up. When controlling the heating device outside the drain pipe, the heating power of the heating device is determined based on the outdoor ambient temperature. The lower the outdoor ambient temperature, the greater the heating power of the heating device.

[0012] As an optional implementation of this application, it also includes: When the water level in the collection tank is higher than the preset lower limit of the water level in the collection tank, the drainage is activated; When drainage is started, the operating mode of the water pump is determined based on the water level in the collection tank. The step of determining the pump's operating mode based on the water level in the collection tank includes: When the water level in the collection tank is greater than or equal to the preset upper limit of the water level in the collection tank, the working mode of the water pump is: the water pump works continuously until the water level in the collection tank is less than the upper limit of the water level in the collection tank. When the water level in the collection tank is less than the upper limit of the water level in the collection tank but greater than or equal to the lower limit of the water level in the collection tank, the water pump operates in an intermittent start mode, wherein the intermittent start is followed by a sixth preset start time after a fifth preset start time.

[0013] As an optional implementation of this application, it also includes: When the water level in the collection tank is greater than or equal to the preset water level in the collection tank, the normal descent rate is a preset base value; When the water level in the collection tank is lower than the preset water level in the collection tank, the normal descent rate = preset coefficient * base value. The preset coefficient is determined based on the water level in the collection tank, and the lower the water level in the collection tank, the smaller the preset coefficient.

[0014] Secondly, an integrated heat pump air conditioner control device is provided, comprising: The water level acquisition module is used to obtain the actual rate of drop in the water level of the collection tank when drainage is turned on during heating operation. The drainage pipe dredging module is used to dredge the drainage pipe when the actual descent speed is less than the preset normal descent speed.

[0015] Thirdly, an integrated heat pump air conditioner control system is provided, including: At least one processor and at least one memory; The memory stores the executable instructions of the processor; The processor is configured to perform the integrated heat pump air conditioner control method described in any of the preceding claims.

[0016] Fourthly, an integrated heat pump air conditioner is provided, which applies the integrated heat pump air conditioner control method described in any of the above claims.

[0017] As an optional implementation of this application, the air conditioner includes a water collection tank, a water pump, a drain outlet, and a drain pipe; The water collection tank is located at the bottom of the air conditioner to collect defrost water; the drain outlet is located at the top of the air conditioner. The water pump is used to discharge the water in the water collection tank from the drain outlet through the drain pipe. The angle between any section of the drain pipe and the horizontal plane is greater than or equal to a preset angle, wherein the preset angle is a positive number.

[0018] Beneficial effects: This application provides a control method, device, system, and air conditioner for an integrated heat pump air conditioner. The control method includes: in heating mode, if drainage is activated, obtaining the actual rate of water level drop in the collection tank; if the actual rate of drop is less than a preset normal rate of drop, cleaning the drain pipe. Because in heating mode, if drainage is activated, it indicates a large amount of defrost water in the collection tank, requiring detection of pipe blockage. Whether due to ice blockage or dirt blockage, the actual rate of water level drop in the collection tank will decrease; therefore, the presence of a blockage can be determined based on the actual rate of drop and the normal rate of drop. When a blockage occurs, i.e., when the actual rate of drop is less than the preset normal rate of drop, cleaning the drain pipe is performed. This application's drain pipe cleaning solution employs at least one of water pump cleaning and ice-melting cleaning to ensure the normal operation of the water system and prevent defrost water from overflowing due to inability to drain in a timely manner. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a control method for an integrated heat pump air conditioner provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of an integrated heat pump air conditioner control device provided in an embodiment of this application; Figure 3 This is a schematic diagram of an integrated heat pump air conditioner control system provided in an embodiment of this application; Figure 4 This is a top-view structural diagram of an integrated heat pump air conditioner provided in an embodiment of this application; Figure 5 This is a side view or rear view of a water pump and water pipe provided in an embodiment of this application; Figure 6 This is an exploded view of a water pump assembly provided in an embodiment of this application; Figure 7 This is a flowchart of a pumping mode based on water level according to an embodiment of this application; Figure 8This is a flowchart illustrating how to control the thermal power of a motor based on the outdoor ambient temperature, as provided in an embodiment of this application. Figure 9 This is a flowchart illustrating a drainage pipe ice blockage treatment method provided in an embodiment of this application; Figure 10 This is a flowchart of a drainage pipe and water pump dredging process provided in an embodiment of this application.

[0021] Explanation of reference numerals in the attached figures: 1-Outdoor heat exchanger; 2-Water level detector; 3-Electrically heated water level detector; 4-Water collection tank; 5-Water pump; 6- Chassis electric heating; 7-Indoor / Outdoor Separation Board; 8-Indoor heat exchanger; 9-Drain pipe; 10-Compressor; 11-Drainage and insulation pipe; 12-Rear partition; 13-Outdoor fan blades; 14-Chassis; 15-Electric heating for drain pipe. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] To ensure smooth discharge of defrosting water at low temperatures, some existing technologies employ methods such as ultrasonic waves to directly atomize and discharge the water. For example, CN 116045472 A provides an air conditioner chassis assembly, an air conditioner, and its control method, belonging to the field of air conditioning technology. The air conditioner chassis assembly includes a chassis body with a water collection area, a water tank, and a water pump corresponding to the water tank. The water pump pumps water from the collection area into the water tank. An ultrasonic generator is installed inside the water tank, and a filter is installed at the water pump's inlet. This invention places the ultrasonic generator inside the water tank and filters the pumped water through the filter, thus largely preventing the ultrasonic generator from malfunctioning due to dust accumulation. This meets the drainage requirements of chassis without drainage structures and air conditioners with heating modes operating in low-temperature environments. However, this solution is costly, and the atomized water easily condenses again due to the low outside temperature, resulting in poor performance.

[0024] Another approach involves introducing a heating device at the chassis to prevent the water in the chassis's water collection tank from freezing. This method is low-cost and allows for the recycling of condensate. For example, CN222378408U discloses a water collection tray assembly and an air conditioner. The water collection tray assembly includes: a water collection tray with a water collection cavity formed thereon for receiving water from a heat exchanger; a pumping device disposed in the water collection cavity and used to pump the water in the water collection cavity to a preset position; and a heating device disposed in the water collection cavity, with at least a portion of the heating device adjacent to the pumping device. Therefore, by installing a pumping device in the water receiving chamber to drain the water in the water receiving chamber, and by installing a heating device in the water receiving chamber, it is beneficial to prevent the water in the water receiving chamber from freezing. At the same time, the heating device is located at least partially adjacent to the pumping device, which is beneficial to prevent freezing inside and around the pumping device. When the water receiving chamber or the pumping device has frozen, the heating device can defrost it, which is beneficial to prevent damage to the pumping device and to prevent water from accumulating in the water receiving chamber.

[0025] Improvements have also been made based on the existing heating device, but these improvements are all focused on controlling the heating device's activation to avoid energy waste. For example, CN120845877A discloses an air conditioner, its control method, and a computer program product. The control method includes, in response to the air conditioner entering defrost mode, acquiring a first weight of the outdoor unit; acquiring a second weight of the outdoor unit while the defrost mode is running for a first preset time; and controlling the opening and closing state of the heating device on the outdoor unit's drip tray based on the first and second weights. This control method can determine the frost accumulation in the drip tray using the first and second weights, and thus control whether to activate the heating device based on the frost accumulation. This avoids activating the heating device when there is no frost in the drip tray, reducing energy waste, lowering air conditioner energy consumption, and achieving the goal of energy conservation and emission reduction.

[0026] Therefore, existing technology only guarantees that the water in the chassis will not frost over. However, in actual use, if the water pump system malfunctions, especially if the drain pipe is blocked, the drainage system will be paralyzed: the air conditioner will be unable to pump the outdoor water to the indoor side, and the outdoor defrosting water will accumulate more and more, overflowing from the chassis and dripping down, leading to customer complaints.

[0027] To solve this problem, refer to Figure 1 This application provides a control method for an integrated heat pump air conditioner, including: S11: Under heating conditions, if drainage is turned on, obtain the actual rate of drop in the water level of the collection tank; The actual rate of water level drop in the collection tank is calculated by recording the water levels at two consecutive moments (the interval between these moments can be set as needed). When the water level in the collection tank is high and the pump speed or setting is constant, the rate of drop should be the same. Therefore, based on this principle, it is possible to determine if the drain pipe is blocked. If there is a blockage, the actual rate of drop will be slower.

[0028] In a preferred implementation of this application, drainage is initiated when the water level in the collection tank is greater than a preset lower limit; and drainage is required promptly when the water level in the collection tank is greater than the preset lower limit to prevent freezing.

[0029] When drainage is started, the operating mode of the water pump is determined based on the water level in the collection tank. The step of determining the pump's operating mode based on the water level in the collection tank includes: When the water level in the collection tank is greater than or equal to a preset upper limit, the water pump operates continuously until the water level in the collection tank is less than the upper limit. Continuous operation means the pump is always running. This is because when the water level in the collection tank is greater than or equal to the preset upper limit, there is a significant amount of water in the tank, which may be in the process of defrosting or has just finished defrosting, requiring the water to be drained as quickly as possible.

[0030] When the water level in the collection tank is lower than the upper limit but greater than or equal to the lower limit, the water pump operates in intermittent mode. The intermittent operation involves starting for a fifth preset duration and then stopping for a sixth preset duration. This intermittent operation satisfies the water level control requirements, saving energy and extending the pump's lifespan.

[0031] Furthermore, the fifth preset duration and the sixth preset duration can be the same or different, depending on actual needs. This application embodiment does not impose specific limitations.

[0032] S12: When the actual descent speed is less than the preset normal descent speed, the drain pipe is cleaned.

[0033] In one embodiment, the preset normal descent rate is the rate at which the water level in the collection tank decreases when the drain pipe is not blocked and the water level in the collection tank is higher than the preset collection tank water level. If this embodiment is used, step S11 needs to obtain the actual descent rate at which the water level in the collection tank is higher than the preset collection tank water level. However, generally, when drainage is first started, the water level in the collection tank is higher than the preset collection tank water level. Therefore, there will not be a situation where the water level in the collection tank is consistently lower than the preset collection tank water level when drainage is started.

[0034] In another implementation, since the rate of water level decline in the collection tank gradually decreases when the water level is low, the rate of decline corresponding to each water level in the collection tank can be experimentally measured (in reality, one rate of decline corresponds to one water level range in the collection tank). Then, when the water level in the collection tank is low, the pre-measured rate of decline is used as the normal rate of decline. When the water level is high, the rate of decline obtained in the above embodiment is used as the normal rate of decline. Specifically: When the water level in the collection tank is greater than or equal to the preset water level in the collection tank, the normal descent rate is a preset base value; When the water level in the collection tank is lower than the preset water level in the collection tank, the normal descent rate = preset coefficient * base value. The preset coefficient is determined based on the water level in the collection tank, and the lower the water level in the collection tank, the smaller the preset coefficient.

[0035] It should be noted that the preset water level in the collection tank is greater than the lower limit of the water level in the collection tank and less than the upper limit of the water level in the collection tank. The specific values ​​should be set according to actual needs.

[0036] In one embodiment, the dredging of the drain pipe includes: Only water pump dredging is performed, which includes controlling the water pump to operate cyclically in the following manner until the actual descent rate is greater than or equal to the preset normal descent rate: The machine runs at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed.

[0037] The water pump is used to remove dirt and blockages from drain pipes. It first runs at a first preset speed for a first preset time, then at a second preset speed for a second preset time. Because the first speed is greater than the second speed, the water flow forms a pulsating pattern, which makes its cleaning ability stronger than when running at a high speed continuously. It can also save energy.

[0038] In another embodiment, the dredging of the drain pipe includes: The process involves only de-icing and dredging, which includes controlling the heating device outside the drain pipe to heat it.

[0039] The ice-melting and sludge-clearing method is used to remove ice blockages in drainage pipes. When ice blockages occur, the heating device can be directly controlled to heat the pipes. The type of heating device can be set according to actual needs.

[0040] As a preferred implementation of this application embodiment, the step of dredging the drainage pipe includes: Obtain the outdoor ambient temperature; When the outdoor ambient temperature is less than or equal to the first preset outdoor ambient temperature, de-icing and dredging are carried out. The de-icing and dredging includes: controlling the heating device outside the drain pipe to heat it. When the outdoor ambient temperature is greater than a first preset outdoor ambient temperature, or when the outdoor ambient temperature is less than a second preset outdoor ambient temperature and the duration is greater than a third preset duration, or after a fourth preset duration of de-icing and dredging, water pump dredging is performed. The water pump dredging includes controlling the water pump to operate in a cyclical manner until the actual descent rate is greater than or equal to a preset normal descent rate: The system operates at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed, and the second preset outdoor ambient temperature is less than the first preset outdoor ambient temperature.

[0041] It should be noted that during the dredging process using a water pump, the ratio of the actual descent speed to the preset normal descent speed is obtained. A first preset speed and / or a second preset speed are determined based on the ratio, wherein the smaller the ratio, the larger the first preset speed and / or the second preset speed. This is because a smaller ratio between the actual descent speed and the preset normal descent speed indicates a more severe blockage, thus requiring a higher pump speed.

[0042] Furthermore, during ice melting and dredging, the heating power of the heating device is determined based on the outdoor ambient temperature; The lower the outdoor ambient temperature, the greater the heating power of the heating device.

[0043] Also includes: Obtain the outdoor ambient temperature; As a preferred implementation of this application, when the outdoor ambient temperature is lower than the third preset outdoor ambient temperature, the heating device outside the drain pipe is controlled to heat up. When controlling the heating device outside the drain pipe, the heating power of the heating device is determined based on the outdoor ambient temperature. The lower the outdoor ambient temperature, the greater the heating power of the heating device.

[0044] Preferably, the third preset outdoor ambient temperature is equal to the first preset outdoor ambient temperature. Of course, different values ​​can also be set.

[0045] It should be noted that any process or method description in the flowchart or otherwise described herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which the embodiments of this application pertain.

[0046] Furthermore, in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0047] The control method for an integrated heat pump air conditioner provided in this application includes: in heating mode, if drainage is activated, obtaining the actual rate of drop in the water level of the collection tank; when the actual rate of drop is less than a preset normal rate of drop, cleaning the drain pipe. Because in heating mode, if drainage is activated, it indicates a large amount of defrost water in the collection tank, requiring detection of pipe blockage. Whether due to ice blockage or dirt blockage, the actual rate of drop in the water level of the collection tank will decrease; therefore, the presence of a blockage can be determined based on the actual rate of drop and the normal rate of drop. When a blockage occurs, i.e., when the actual rate of drop is less than the preset normal rate of drop, cleaning the drain pipe is performed. This application's drain pipe cleaning solution employs at least one of water pump cleaning and ice-melting cleaning to ensure the normal operation of the water system and prevent defrost water from overflowing due to inability to drain in a timely manner.

[0048] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the integrated heat pump air conditioner control method provided in any of the above embodiments.

[0049] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0050] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0051] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0052] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0053] The computer-readable storage medium provided in this application embodiment stores a computer program, which, when executed by a processor, implements the steps of the integrated heat pump air conditioner control method provided in any of the above embodiments. Thus, in heating mode, if drainage is activated, the actual rate of water level drop in the collection tank is obtained; if the actual rate of drop is less than a preset normal rate of drop, the drain pipe is cleaned. Because if drainage is activated in heating mode, it indicates a large amount of defrost water in the collection tank, requiring detection of pipe blockage. Whether due to ice blockage or dirt blockage, the actual rate of water level drop in the collection tank will decrease; therefore, blockage can be determined based on the actual rate of drop and the normal rate of drop. When a blockage occurs, i.e., when the actual rate of drop is less than the preset normal rate of drop, the drain pipe is cleaned. The drain pipe cleaning solution in this application employs at least one of water pump cleaning and ice-melting cleaning to ensure the normal operation of the water system and prevent defrost water from overflowing due to inability to drain in a timely manner.

[0054] Based on the same inventive concept, such as Figure 2 As shown in the figure, this application embodiment also provides an integrated heat pump air conditioner control device 20, including: The water level acquisition module 21 is used to acquire the actual rate of drop in the water level of the collection tank when drainage is turned on during heating operation. The actual rate of water level drop in the collection tank is calculated by recording the water levels at two consecutive moments (the interval between these moments can be set as needed). When the water level in the collection tank is high and the pump speed or setting is constant, the rate of drop should be the same. Therefore, based on this principle, it is possible to determine if the drain pipe is blocked. If there is a blockage, the actual rate of drop will be slower.

[0055] In a preferred implementation of this application, drainage is initiated when the water level in the collection tank is greater than a preset lower limit; and drainage is required promptly when the water level in the collection tank is greater than the preset lower limit to prevent freezing.

[0056] When drainage is started, the operating mode of the water pump is determined based on the water level in the collection tank. The step of determining the pump's operating mode based on the water level in the collection tank includes: When the water level in the collection tank is greater than or equal to a preset upper limit, the water pump operates continuously until the water level in the collection tank is less than the upper limit. Continuous operation means the pump is always running. This is because when the water level in the collection tank is greater than or equal to the preset upper limit, there is a significant amount of water in the tank, which may be in the process of defrosting or has just finished defrosting, requiring the water to be drained as quickly as possible.

[0057] When the water level in the collection tank is lower than the upper limit but greater than or equal to the lower limit, the water pump operates in intermittent mode. The intermittent operation involves starting for a fifth preset duration and then stopping for a sixth preset duration. This intermittent operation satisfies the water level control requirements, saving energy and extending the pump's lifespan.

[0058] Furthermore, the fifth preset duration and the sixth preset duration can be the same or different, depending on actual needs. This application embodiment does not impose specific limitations.

[0059] The drainage pipe dredging module 22 is used to dredge the drainage pipe when the actual descent speed is less than the preset normal descent speed.

[0060] In one embodiment, the preset normal descent rate is the rate at which the water level in the collection tank decreases when the drain pipe is not blocked and the water level in the collection tank is higher than the preset collection tank water level. If this embodiment is used, step S11 needs to obtain the actual descent rate at which the water level in the collection tank is higher than the preset collection tank water level. However, generally, when drainage is first started, the water level in the collection tank is higher than the preset collection tank water level. Therefore, there will not be a situation where the water level in the collection tank is consistently lower than the preset collection tank water level when drainage is started.

[0061] In another implementation, since the rate of water level decline in the collection tank gradually decreases when the water level is low, the rate of decline corresponding to each water level in the collection tank can be experimentally measured (in reality, one rate of decline corresponds to one water level range in the collection tank). Then, when the water level in the collection tank is low, the pre-measured rate of decline is used as the normal rate of decline. When the water level is high, the rate of decline obtained in the above embodiment is used as the normal rate of decline. Specifically: When the water level in the collection tank is greater than or equal to the preset water level in the collection tank, the normal descent rate is a preset base value; When the water level in the collection tank is lower than the preset water level in the collection tank, the normal descent rate = preset coefficient * base value. The preset coefficient is determined based on the water level in the collection tank, and the lower the water level in the collection tank, the smaller the preset coefficient.

[0062] It should be noted that the preset water level in the collection tank is greater than the lower limit of the water level in the collection tank and less than the upper limit of the water level in the collection tank. The specific values ​​should be set according to actual needs.

[0063] In one embodiment, the dredging of the drain pipe includes: Only water pump dredging is performed, which includes controlling the water pump to operate cyclically in the following manner until the actual descent rate is greater than or equal to the preset normal descent rate: The machine runs at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed.

[0064] The water pump is used to remove dirt and blockages from drain pipes. It first runs at a first preset speed for a first preset time, then at a second preset speed for a second preset time. Because the first speed is greater than the second speed, the water flow forms a pulsating pattern, which makes its cleaning ability stronger than when running at a high speed continuously. It can also save energy.

[0065] In another embodiment, the dredging of the drain pipe includes: The process involves only de-icing and dredging, which includes controlling the heating device outside the drain pipe to heat it.

[0066] The ice-melting and sludge-clearing method is used to remove ice blockages in drainage pipes. When ice blockages occur, the heating device can be directly controlled to heat the pipes. The type of heating device can be set according to actual needs.

[0067] As a preferred implementation of this application embodiment, the step of dredging the drainage pipe includes: Obtain the outdoor ambient temperature; When the outdoor ambient temperature is less than or equal to the first preset outdoor ambient temperature, de-icing and dredging are carried out. The de-icing and dredging includes: controlling the heating device outside the drain pipe to heat it. When the outdoor ambient temperature is greater than a first preset outdoor ambient temperature, or when the outdoor ambient temperature is less than a second preset outdoor ambient temperature and the duration is greater than a third preset duration, or after a fourth preset duration of de-icing and dredging, water pump dredging is performed. The water pump dredging includes controlling the water pump to operate in a cyclical manner until the actual descent rate is greater than or equal to a preset normal descent rate: The system operates at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed, and the second preset outdoor ambient temperature is less than the first preset outdoor ambient temperature.

[0068] It should be noted that during the dredging process using a water pump, the ratio of the actual descent speed to the preset normal descent speed is obtained. A first preset speed and / or a second preset speed are determined based on the ratio, wherein the smaller the ratio, the larger the first preset speed and / or the second preset speed. This is because a smaller ratio between the actual descent speed and the preset normal descent speed indicates a more severe blockage, thus requiring a higher pump speed.

[0069] Furthermore, during ice melting and dredging, the heating power of the heating device is determined based on the outdoor ambient temperature; The lower the outdoor ambient temperature, the greater the heating power of the heating device.

[0070] Also includes: Obtain the outdoor ambient temperature; As a preferred implementation of this application, when the outdoor ambient temperature is lower than the third preset outdoor ambient temperature, the heating device outside the drain pipe is controlled to heat up. When controlling the heating device outside the drain pipe, the heating power of the heating device is determined based on the outdoor ambient temperature. The lower the outdoor ambient temperature, the greater the heating power of the heating device.

[0071] Preferably, the third preset outdoor ambient temperature is equal to the first preset outdoor ambient temperature. Of course, different values ​​can also be set.

[0072] The integrated heat pump air conditioner control device provided in this application embodiment, under heating conditions, if drainage is activated, obtains the actual rate of drop in the water level of the collection tank; when the actual rate of drop is less than the preset normal rate of drop, the drain pipe is cleaned. Because if drainage is activated under heating conditions, it indicates that there is a large amount of defrost water in the collection tank, and it is necessary to check whether the water pipe is blocked. Whether it is ice blockage or dirt blockage, the actual rate of drop in the water level of the collection tank will decrease, so a blockage can be determined based on the actual rate of drop and the normal rate of drop. When there is a blockage, i.e., when the actual rate of drop is less than the preset normal rate of drop, the drain pipe is cleaned. The drain pipe cleaning solution in this application uses at least one of water pump cleaning and ice-melting cleaning to ensure the normal use of the water system and prevent defrost water from overflowing due to inability to drain in time.

[0073] Based on the same inventive concept, such as Figure 3 As shown, this application also provides an integrated heat pump air conditioner control system 30, including: At least one processor 31 and at least one memory 32; The memory stores the executable instructions of the processor; The processor is configured to execute the integrated heat pump air conditioner control method provided in the above embodiments.

[0074] The integrated heat pump air conditioner control system provided in this application embodiment stores executable instructions of the processor in a memory. When these executable instructions are executed, the processor can, under heating conditions, if drainage is activated, obtain the actual rate of drop in the water level of the collection tank. If the actual rate of drop is less than a preset normal rate of drop, the drain pipe is cleaned. Because if drainage is activated under heating conditions, it indicates a large amount of defrost water in the collection tank, requiring detection of pipe blockage. Whether it's ice blockage or dirt blockage, the actual rate of drop in the water level of the collection tank will decrease; therefore, blockage can be determined based on the actual rate of drop and the normal rate of drop. When a blockage occurs, i.e., when the actual rate of drop is less than the preset normal rate of drop, the drain pipe is cleaned. This application's drain pipe cleaning solution employs at least one of water pump cleaning and ice-melting cleaning to ensure the normal operation of the water system and prevent defrost water from overflowing due to inability to drain in a timely manner.

[0075] Based on the same inventive concept, this application also provides an integrated heat pump air conditioner, applying the integrated heat pump air conditioner control method provided in any of the above embodiments.

[0076] The integrated heat pump air conditioner provided in this application embodiment, by applying the integrated heat pump air conditioner control method provided in any of the above embodiments, can obtain the actual rate of drop in the water level of the collection tank when drainage is activated during heating operation; when the actual rate of drop is less than the preset normal rate of drop, the drain pipe is cleaned. Because activating drainage during heating operation indicates a large amount of defrost water in the collection tank, it is necessary to check for blockages in the water pipes. Whether it is ice blockage or dirt blockage, the actual rate of drop in the water level of the collection tank will decrease, therefore, the presence of a blockage can be determined based on the actual rate of drop and the normal rate of drop. When a blockage occurs, i.e., when the actual rate of drop is less than the preset normal rate of drop, the drain pipe is cleaned. The drain pipe cleaning solution in this application uses at least one of water pump cleaning and ice-melting cleaning to ensure the normal use of the water system and prevent defrost water from overflowing due to inability to drain in time.

[0077] To more clearly illustrate the solution proposed in this application, a specific implementation method is provided below, such as... Figure 4 , Figure 5 and Figure 6 As shown, the air conditioner includes an outdoor heat exchanger 1, a water level detector 2, an electric heater for the water level detector 3, a water collection tank 4, a water pump 5, an electric heater for the chassis 6, an indoor / outdoor partition 7, an indoor heat exchanger 8, a drain pipe 9, a compressor 10, a drain insulation pipe 11, a rear partition 12, an outdoor fan blade 13, a chassis 14, and an electric heater for the drain pipe 15.

[0078] The chassis is equipped with a water collection tank, on which an electric heater is laid flat. The heater ensures that the water in the tank remains liquid even at low temperatures. The water pump is installed at the lowest point of the water collection area. During defrosting, the defrosting water produced by the outdoor condenser is collected in the water collection tank at the lowest point of the chassis. The water is then pumped by the outdoor water pump assembly and discharged through the drain pipe to the indoor drain outlet, and then led away through the indoor drainage pipes.

[0079] The water pump assembly for pumping water includes a water pump, a drain pipe and its insulation, a water level detector and its electric heater, etc. The water pump is installed at the lowest point of the water collection area on the chassis. An electric heater for the water level detector is installed next to it to ensure that the water around the level switch is always above 0°C in low-temperature environments, preventing the water level detector from being jammed by ice and providing incorrect signals.

[0080] In heating mode, the water pump starts pumping water according to the water level. When the water level is too high, the water pump will pump water continuously. When the water level is low, the water pump can be turned on intermittently. When the water level is not high, the water pump can be turned on intermittently to meet the water level control requirements. The water pump works intermittently, which saves electricity and extends the life of the water pump.

[0081] Specific implementation methods, such as Figure 7 As shown: When the water level in the tank is L 水槽水位下限 ≤L 水槽水位 <L 水槽水位上限 When the water pump is turned on... 断续开 Duration, then pause t 断续停 Duration; When the water level in the tank is l 水槽水位 ≥L 水槽水位上限 When the water level drops to L, the water pump will operate continuously until the water level in the chassis drops to L. 水槽水位上限 The intermittent operation mode will be executed again in the following situations; When the water level in the tank is L 水槽水位 <L 水槽水位下限 Then shut off the water pump until the water level rises, and then execute the corresponding working mode according to the water level. 断续开 / t 断续停 The values ​​can be the same or different, and can be any value between 2 and 30 minutes.

[0082] The water pump outlet is connected to a drain pipe with insulation material. This invention demonstrates an integrated air conditioner where the indoor and outdoor sections are separated by an indoor / outdoor partition. The partition is installed on the outdoor section (referred to as the outdoor side) on the side closest to the outdoor heat exchanger, and on the indoor section (referred to as the indoor side). The drain pipe is located on the outdoor section, with over 80% of the piping running at an angle. The angle between the drain pipe and the horizontal mounting surface of the chassis is any angle between 10° and 90° (e.g., ...). Figure 5(Illustrated by the inclination angles α and β of the drain pipe) ensures that when the water pump stops, the water in the pipe flows back into the electrically heated water collection tank in the chassis under its own weight, thereby reducing the risk of water freezing and causing blockage in the drain pipe due to prolonged water accumulation.

[0083] The water pipe of a cryogenic water pump may become clogged. This clog could be due to ice blockage or dirt blockage. Ice blockage refers to ice blocks or ice particles obstructing the pipe, while dirt blockage refers to sediment, grime, or other debris accumulating and clogging the pipe. Both types of blockage can clog the cryogenic water pump, preventing it from effectively removing water from the chassis and leading to overflow and complaints.

[0084] To prevent ice blockage in the water pump drain pipe, the present invention provides one or more electric heating strips or electric heating tubes between the drain pipe and the insulation pipe surrounding the drain pipe, and the amount of heat generated is adjusted according to the outdoor ambient temperature during low-temperature heating.

[0085] like Figure 8 As shown: When heating at low temperatures, when T 外环 ≤T 外环100%投入 At this time, all electric heating belts or pipes are put into operation to provide sufficient heat to prevent the water in the pipes from freezing; When T 外环100%投入 <T 外环 ≤T 外环75%投入， Only 75% of the heat output of the electric heating element or tube can be used for operation; When T 外环75%投入 <T 外环 ≤T 外环50%投入， Only 50% of the heat output of the electric heating element or tube can be used for operation; When T 外环50%投入 <T 外环 ≤T 外环25%投入， Only 25% of the heat output of the electric heating element or tube can be used for operation; When T 外环 >T 外环25%投入 Then there is no need to invest in electric heating for water pipes.

[0086] In the example, T 外环100%投入 It can be any value between -10 and -40℃, T 外环75%投入 It can be any value between -5 and -30℃; T 外环50%投入 It can be any value between -2 and -20℃; T 外环25%投入The temperature can be any value between +2 and -10℃. Of course, the number of electric heating segments in this embodiment can vary. The principle is to allocate the heating energy from the water pipe's electric heating, and the number of segments and the actual power of the electric heating can be adjusted as needed. Multiple electric heating strips or tubes can be replaced with a single adjustable power electric heating strip or tube. When using a single electric heating strip or tube, segmented power control devices such as silicon controlled rectifiers (SCRs) can be used to achieve different power outputs from a single electric heating tube, simplifying the structure and reducing costs. Different water pipe heating energy levels are allocated according to different ambient temperatures, ensuring water pipe freeze protection while reducing electric heating power consumption.

[0087] To solve the problem of water pipe blockage, the controller first needs to promptly determine whether the water pipe is prone to blockage or is already blocked. This application provides a method for determining this and a solution for water pipe blockage: the water level detector provided in this application can effectively and accurately detect the water level in the tank, at L... 水槽水位 ≥L 水槽水位中限 When the water pump operates normally, the amount of water pumped per unit time is constant, and therefore the rate at which the water level in the tank drops is also constant.

[0088] When the water level in the tank is L 水槽水位 ≥L 水槽水位中限 At that time, and within the unit of continuous operation of the water pump, S 水位下降速度 ≥S 水位正常下降速度 At this time, the water pipe was not blocked, the water pump assembly was working normally, and the water pump operated continuously for a period of time. 水位下降速度 <x%*S 水位正常下降速度 When (x% can be any value between 0% and 99%, set as needed, and then becomes a fixed value), the water pipe's drainage capacity decreases and the water pipe becomes blocked. When x% can be any value between 0% and 99%, the controller enters the water pipe dredging process. First, address the ice blockage issue, such as... Figure 9 As shown: If T 外环25%投入 >T 外环 >T 外环100%投入 When an electric heating element or tube is put into operation at 100% of its heat output, compared to a conventional electric heating element or tube that only requires ≤75% of its heat output, the heating element or tube can operate at 25% or more for a duration of T. 水管融冰 Duration, or when S 水位下降速度 ≥S 水位正常下降速度 If either of these conditions is met, then the control to increase the electric heating output of the water pipes will be deactivated; T 水管融冰 The time can be any value between 5 and 60 minutes, and the increased electric heating of the water pipes can ensure that larger ice blocks in the water pipes are melted.

[0089] If T 外环 ≤T 外环100%投入 At this point, there is no reserve of heat to generate heat for the water pipes to freeze; therefore, it is necessary to wait for T...外环 >T 外环100%投入 Once satisfied, proceed with the de-icing operation as described above, ensuring the electric heating power of the water pipes does not decrease. When T 外环25%投入 >T 外环 At this time, the ambient temperature is relatively high, and the possibility of ice blockage in the water pipes is small. It is necessary to switch to the water pump dredging program.

[0090] When the water pipe electric heating is activated to increase the heat generation and the ice melting time exceeds T... 水管融冰时长 or a longer period of time T 外环 ≤T 外环100%投入， or T 外环 >T 外环25%投入 At this time, S is still 水位下降速度 <x%*S 水位正常下降速度 At this time, the ice-melting and sludge-clearing program will switch to the water pump sludge-clearing program: The speed of the water pump motor in this embodiment is adjustable. The adjustment method can be achieved by adjusting the working voltage of the water pump or by making the water pump motor a tap with shiftable speed. This embodiment provides three speed settings for the water pump: ultra-high speed, high speed, and normal speed.

[0091] like Figure 10 As shown: In L 水槽水位 ≥L 水槽水位中限 When the water pump is operating normally, when S 水位下降速度 <x1%*S 水位正常下降速度 The water pump operates at ultra-high speed for time T1, then runs at normal speed for time T2. When S... 水位下降速度 <x2%*S 水位正常下降速度 During the period of high-speed operation (T1) followed by normal speed operation (T2), the pump operates in a pulsating pattern, similar to waves constantly pounding and pushing away blockages. This is more effective at flushing and removing contaminants from the pipes than continuous high-speed operation. Furthermore, continuous high-speed operation increases power consumption, heat generation, and reduces the pump's lifespan. When S... 水位下降速度 ≥S 水位正常下降速度 If the water pump and pipe self-cleaning program is terminated, the process will exit. If the water pump sludge removal process exceeds T... 水泵清淤， S 水位下降速度 If the value is 0, the air conditioner will stop and report an error, requiring the customer to contact after-sales service to unclog the drain pipe. T1 and T2 can be equal or unequal, and can take any value from 1 to 30 minutes. x1% < x2%, where x1% can be any value from 0% to 80%, and x2% can be any value from 5% to 99%. 水泵清淤 This can be any value between 30 and 120 minutes. The more severe the blockage, the higher the pump speed, providing stronger kinetic energy to move or break down the blockage in the pipe, thus clearing the blockage. During the pump dredging process, timed start-stop operations are not performed; the dredging process is executed according to the established procedure until the process is exited. This application provides the following embodiments: 1. An insulated water pipe connected to a water pump and its antifreeze installation method, wherein the water pump outlet is connected to a drain pipe with insulation material, and more than 80% of the drain pipe is located in an outdoor low-temperature environment, and the drain pipe must be laid at an angle of 10-90° with the horizontal mounting surface of the chassis, which can prevent water inside the water pump drain pipe from freezing in the low-temperature environment, causing the water pipe to become blocked and unusable.

[0092] 2. A water pump control method during heating, wherein the water pump can start the pumping mode according to the water level and pump water as needed, which greatly improves the life of the water pump.

[0093] 3. A structure and control method for preventing ice blockage in water pump pipes, wherein the water pump pipe with insulation pipe has one or more built-in electric heating strips or electric heating tubes, and the electric heating heat output of the water pipe is adjusted according to different external ambient temperatures, so as to reduce the power consumption of electric heating while ensuring the water pipe is protected from freezing.

[0094] 4. A logic for water pump and water pipe blockage: The water level drop rate is sensed by the water pump float, and the water pipe blockage is determined by the rate of drop of the water level in the tank.

[0095] 5. If the water pump becomes clogged, the first step is to eliminate the ice blockage. By judging the ambient temperature, apply the heat generated by the stored electric heater to the water pipe to accelerate the melting of the abnormal ice inside the pipe, so that the water level drops at a normal rate when the water pump is pumping.

[0096] 6. If methods to eliminate ice blockage fail to resolve the water pipe blockage problem, then the water pump dredging process is initiated: dredging is performed through a pulsating motion of high-speed - normal-speed - high-speed... This protects the water pump, reduces power consumption, and is more effective than continuous high-speed dredging.

[0097] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0098] It should be noted that in the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means at least two.

[0099] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A control method for an integrated heat pump air conditioner, characterized in that, include: Under heating conditions, if drainage is turned on, the actual rate of drop in the water level of the collection tank can be obtained. When the actual descent speed is less than the preset normal descent speed, the drain pipe is cleared of silt.

2. The method according to claim 1, characterized in that: The process of dredging the drainage pipes includes: The process involves using a water pump for dredging, which includes controlling the water pump to operate cyclically in the following manner until the actual descent rate is greater than or equal to a preset normal descent rate: The machine runs at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed.

3. The method according to claim 1, characterized in that: The process of dredging the drainage pipes includes: The process of de-icing and dredging includes controlling the heating device outside the drain pipe to heat it.

4. The method according to claim 1, characterized in that: The process of dredging the drainage pipes includes: Obtain the outdoor ambient temperature; When the outdoor ambient temperature is less than or equal to the first preset outdoor ambient temperature, de-icing and dredging are carried out. The de-icing and dredging includes: controlling the heating device outside the drain pipe to heat it. When the outdoor ambient temperature is greater than a first preset outdoor ambient temperature, or when the outdoor ambient temperature is less than a second preset outdoor ambient temperature and the duration is greater than a third preset duration, or after a fourth preset duration of de-icing and dredging, water pump dredging is performed. The water pump dredging includes controlling the water pump to operate in a cyclical manner until the actual descent rate is greater than or equal to a preset normal descent rate: The system operates at a first speed for a first preset time, and then at a second speed for a second preset time, wherein the first speed is greater than the second speed, and the second preset outdoor ambient temperature is less than the first preset outdoor ambient temperature.

5. The method according to claim 2 or 4, characterized in that, Also includes: When using a water pump for dredging, obtain the ratio of the actual descent speed to the preset normal descent speed; A first preset speed and / or a second preset speed are determined based on the ratio, wherein the smaller the ratio, the larger the first preset speed and / or the second preset speed.

6. The method according to claim 3 or 4, characterized in that, Also includes: When carrying out de-icing and dredging, the heating power of the heating device is determined based on the outdoor ambient temperature. The lower the outdoor ambient temperature, the greater the heating power of the heating device.

7. The method according to claim 1, characterized in that, Also includes: Obtain the outdoor ambient temperature; When the outdoor ambient temperature is lower than the third preset outdoor ambient temperature, the heating device outside the drain pipe is controlled to heat up. When controlling the heating device outside the drain pipe, the heating power of the heating device is determined based on the outdoor ambient temperature. The lower the outdoor ambient temperature, the greater the heating power of the heating device.

8. The method according to claim 1, characterized in that, Also includes: When the water level in the collection tank is higher than the preset lower limit of the water level in the collection tank, the drainage is activated; When drainage is started, the operating mode of the water pump is determined based on the water level in the collection tank. The step of determining the pump's operating mode based on the water level in the collection tank includes: When the water level in the collection tank is greater than or equal to the preset upper limit of the water level in the collection tank, the working mode of the water pump is: the water pump works continuously until the water level in the collection tank is less than the upper limit of the water level in the collection tank. When the water level in the collection tank is less than the upper limit of the water level in the collection tank but greater than or equal to the lower limit of the water level in the collection tank, the water pump operates in an intermittent start-up mode, wherein the intermittent start-up is followed by a sixth preset start-up time after a fifth preset start-up time.

9. The method according to claim 1, characterized in that, Also includes: When the water level in the collection tank is greater than or equal to the preset water level in the collection tank, the normal descent rate is a preset base value; When the water level in the collection tank is lower than the preset water level in the collection tank, the normal descent rate = preset coefficient * base value. The preset coefficient is determined based on the water level in the collection tank, and the lower the water level in the collection tank, the smaller the preset coefficient.

10. An integrated heat pump air conditioner control device, characterized in that, include: The water level acquisition module is used to obtain the actual rate of drop in the water level of the collection tank when drainage is turned on during heating operation. The drainage pipe dredging module is used to dredge the drainage pipe when the actual descent speed is less than the preset normal descent speed.

11. An integrated heat pump air conditioner control system, characterized in that, include: At least one processor and at least one memory; The memory stores the executable instructions of the processor; The processor is configured to perform the method according to any one of claims 1-9.

12. An integrated heat pump air conditioner, characterized in that, The method described in any one of claims 1-9.

13. The integrated heat pump air conditioner according to claim 12, characterized in that: The air conditioner includes a water collection tank, a water pump, a drain outlet, and a drain pipe; The water collection tank is located at the bottom of the air conditioner to collect defrost water; the drain outlet is located at the top of the air conditioner. The water pump is used to discharge the water in the water collection tank from the drain outlet through the drain pipe. The angle between any section of the drain pipe and the horizontal plane is greater than or equal to a preset angle, wherein the preset angle is a positive number.

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