Lifting control method for electric wall cabinets

Abstract

This invention discloses a lifting control method for an electric hanging cabinet, comprising: a lifting drive mechanism responding to a control command to drive the cabinet to move up and down between a preset travel start point and a travel end point, the lifting motion including a main travel and a deceleration travel; during the main travel, the current position of the cabinet is acquired in real time; when the cabinet moves to the deceleration start position of the deceleration travel, the lifting drive mechanism controls the cabinet to execute the deceleration travel, the deceleration travel being set such that the lifting drive mechanism controls the cabinet to decelerate at a preset deceleration slope K until it stops at the travel end point; the deceleration start position is the starting point of the deceleration travel required to decelerate the cabinet from its current operating speed to a stop. By allowing the cabinet to enter the deceleration travel before reaching the travel end point, the cabinet can smoothly decelerate until it stops at the travel end point, thereby effectively avoiding the vibration, noise, impact, and overshoot problems caused by instantaneous stopping in the prior art.

Description

Technical Field

[0001] This invention relates to the field of electric hanging cabinet technology, and more particularly to a lifting control method for electric hanging cabinets. Background Technology

[0002] In modern home environments, electric wall cabinets are becoming increasingly common. Electric wall cabinets consist of an outer cabinet, storage cabinets, and a lifting drive mechanism. The lifting drive mechanism is used to drive the storage cabinet to move up and down relative to the outer cabinet. In order to ensure that the storage cabinet operates within a preset travel range, mechanical or inductive physical travel limit switches are usually installed at the preset upper and lower travel limits.

[0003] The common lifting control method for electric wall-mounted cabinets is as follows: after responding to the control command, the lifting drive mechanism drives the cabinet to move towards the target position at a constant speed. When the cabinet triggers the physical travel limit switch in the corresponding direction during movement (e.g., rising to the upper limit or descending to the lower limit), the lifting drive mechanism responds to the braking command to stop the cabinet instantly. Because the cabinet and its load have a certain mass and inertia, the instantaneous stop when the physical travel limit switch is triggered will generate significant rigid impact, structural vibration, and impact noise, thus affecting the user experience. Furthermore, even if the power is cut off at the instant the physical travel limit switch is triggered, the inertia of the lifting drive mechanism will still cause the cabinet to continue to move a certain distance, resulting in the actual stopping position exceeding the preset limit point, i.e., overshoot. Overshoot can cause the cabinet to collide hard with the mechanical limit switch, and long-term operation can easily lead to the failure of the mechanical limit switch, shortening the lifespan of the electric wall-mounted cabinet and reducing the user experience. Summary of the Invention

[0004] To address the issues of overshoot and impact caused by the instantaneous stop after the locker reaches its position in the aforementioned background technology, this invention provides a lifting control method for an electric hanging locker. By enabling the locker to enter the deceleration stroke before reaching the end of its travel, the locker can smoothly decelerate until it stops at the end of its travel, thereby effectively avoiding the vibration, noise, impact, and overshoot problems caused by the instantaneous stop resulting from the reliance on physical limit switches in the prior art.

[0005] To achieve the above-mentioned technical objectives, the present invention provides a lifting control method for an electric hanging cabinet. The electric hanging cabinet includes an outer cabinet body, a storage cabinet, and a lifting drive mechanism. The lifting drive mechanism drives the storage cabinet to move up and down relative to the outer cabinet body. The lifting control method includes: The lifting drive mechanism responds to control commands and drives the locker to move up and down between a preset travel start point and travel end point. This lifting motion includes a main travel and a deceleration travel. The current position of the locker is obtained in real time during the main stroke. When the locker moves to the deceleration start position of the deceleration stroke, the lifting drive mechanism controls the locker to perform the deceleration stroke. The deceleration stroke is set by the lifting drive mechanism to control the locker to decelerate with a preset deceleration slope K until it stops at the end of the stroke. The deceleration start position is the starting point of the deceleration stroke required to decelerate the locker from the current running speed to a stop.

[0006] Preferably, the lifting drive mechanism includes a control unit and a drive unit. The drive unit includes a motor and a position sensor for detecting the rotation of the motor. The control unit receives a feedback signal from the position sensor and uses it to control the drive unit. The feedback signal from the position sensor represents the position signal of the locker. The control unit is configured to determine the current position of the locker based on the feedback signal from the position sensor.

[0007] Preferably, the position sensor is an incremental encoder, and the control unit acquires and counts the pulse signals output by the incremental encoder to determine the current position of the locker.

[0008] Preferably, the control unit stores a first position signal value and a second position signal value based on a pulse count value, wherein the first position signal value corresponds to the start of the journey and the second position signal value corresponds to the end of the journey; During the movement of the locker, the pulse count value representing the current position of the locker is acquired in real time and compared with the first position signal value and the second position signal value to determine whether the locker has reached the start or end of the journey.

[0009] Preferably, the lifting drive mechanism is configured with a user setting mode, including: Upper limit setting mode: The lifting drive mechanism responds to the user's start command and drives the locker to rise; when the locker moves to the position desired by the user, the lifting drive mechanism responds to the user's stop command and records the current pulse count value, setting it to the upper limit position; Lower limit setting mode: The lifting drive mechanism responds to the user's start command and drives the locker to descend; when the locker moves to the position desired by the user, the lifting drive mechanism responds to the user's stop command and records the current pulse count value, which is then set as the lower limit position; During the descent of the locker, the lower limit setting is defined as the end point of the journey; During the upward movement of the locker, the upper limit setting is defined as the end point of the movement.

[0010] Preferably, the real-time acquisition of the current position of the locker, and when the locker moves to the deceleration start position of the deceleration stroke, the lifting drive mechanism controls the locker to execute the deceleration stroke, including: Real-time acquisition of pulse count values ​​representing the current position of the locker, and the current motor speed V; Calculate the theoretical deceleration distance L required to decelerate from the current speed V to a stop at a preset deceleration slope K. The calculation formula is L=0.5*V² / K*P, where P is the number of pulses generated by the motor in one revolution. The pulse count value representing the current position of the locker is compared with the second position signal value. It is determined whether the difference between the two satisfies the pulse count L. If the pulse count L is satisfied, the current position of the locker is determined as the deceleration start position and the locker is controlled to perform the deceleration stroke.

[0011] Preferably, the main stroke includes a constant speed stroke performed before the deceleration stroke: the lifting drive mechanism controls the locker to run at a constant target speed; the motor speed during the constant speed stroke is set to the current speed V.

[0012] Preferably, the main stroke of the locker's descent movement includes: Start acceleration stroke: The lifting drive mechanism controls the locker to accelerate to the first speed V1 within a preset time T1; First constant speed stroke: The lifting drive mechanism controls the locker to run at a constant speed of the first speed V1.

[0013] Preferably, the main stroke of the locker's descent movement also includes: During the transition deceleration stroke, the lifting drive mechanism controls the locker to descend from a first speed V1 to a second speed V2 within a preset time T2; and... During the second constant speed stroke, the lifting drive mechanism controls the locker to run at a constant speed of V2.

[0014] Preferably, the starting point of the transition deceleration stroke is located at or below the midpoint of the total descent stroke.

[0015] Preferably, the second speed V2 ≤ the first speed V1 / 2.

[0016] Preferably, the drive unit further includes a motor drive circuit, and the control unit controls the motor to move through the motor drive circuit. The lifting control method further includes: controlling the motor to vibrate and make a sound when the locker reaches a specific operating state to provide a status indication. The specific operating state includes at least one of the following: The locker will rise or fall to the end of the journey; The locker's lifting and lowering motion triggers anti-pinch or anti-collision protection. The lifting drive mechanism detected an overcurrent or overheating fault.

[0017] Preferably, the control of the motor vibration to generate sound includes: The control unit outputs a PWM signal to the motor drive circuit. The frequency of the PWM signal is set within the range of frequencies audible to the human ear; The duty cycle of the PWM signal is set below the critical threshold so that the average voltage applied to the motor is lower than the motor's minimum starting voltage; A PWM signal is applied to the motor, causing the motor rotor to vibrate periodically with small amplitudes, thus producing a sound.

[0018] Preferably, the control of motor vibration and sound generation includes an adaptive calibration step for determining a critical threshold for the duty cycle of the PWM signal. The adaptive calibration step includes: S100: The control unit outputs a test PWM signal with a set initial duty cycle to the motor drive circuit; S200: Monitor whether the motor is rotating using the position sensor; If so, proceed to step S300; If not, return to step S100 and increase the duty cycle of the PWM signal; S300: Set the duty cycle of the PWM signal that is currently causing the motor to rotate to the critical threshold.

[0019] By adopting the above technical solution, the present invention has the following advantages: 1. The lifting motion of this invention includes a main stroke and a deceleration stroke. During the main stroke, the current position of the locker is acquired in real time. When the locker moves to the deceleration start position of the deceleration stroke, the lifting drive mechanism controls the locker to perform the deceleration stroke. The deceleration stroke is set by the lifting drive mechanism controlling the locker to decelerate at a preset deceleration slope K until it stops at the end of the stroke. The deceleration start position is the starting point of the deceleration stroke required to decelerate the locker from its current operating speed to a stop. This application controls the locker to perform a uniform deceleration stroke before reaching the end of the stroke, so that the locker can smoothly decelerate to zero speed and stop at the end of the stroke after the main stroke. This allows the deceleration to reach zero and the stroke to be completed at the same time, thereby avoiding the overshoot problem caused by inertia and thus avoiding hard collisions with the mechanical limit switch, extending the service life of the mechanical limit switch. In addition, the smooth deceleration process allows the kinetic energy of the locker and its load to be absorbed and dissipated smoothly and gradually, rather than being forcibly eliminated by rigid collisions in an instant, thereby effectively eliminating the rigid impact caused by instantaneous stopping. This invention addresses issues such as impact, structural vibration, and impact noise, thereby improving the user experience. It also significantly reduces fatigue damage to electric hanging cabinets caused by repeated impacts, extending the product's lifespan. Finally, with the lifting control method of this invention, the main stopping process is completed entirely by the deceleration stroke. The physical travel limit switch only provides a final safety protection when the lifting control method fails unexpectedly. This avoids premature damage to the physical travel limit switch due to frequent impacts, forming a dual safety guarantee system of active precise control as the main approach and passive trigger limit protection as a supplement, preventing the storage cabinet from overtravel.

[0020] 2. The lifting drive mechanism includes a control unit and a drive unit. The drive unit includes a motor and a position sensor for detecting the motor's rotation. The control unit receives feedback signals from the position sensor and uses these signals to control the drive unit. The feedback signals from the position sensor represent the position signal of the locker. The control unit is configured to determine the current position of the locker based on the feedback signals from the position sensor. This allows the control unit to monitor the real-time position of the locker, facilitating real-time acquisition of the locker's current position during the main stroke. Furthermore, it ensures that the determination of the deceleration start position relies on real-time position data, rather than a preset time or estimated value, thereby improving the accuracy and reliability of the deceleration start position determination and further achieving precise stopping without overshoot.

[0021] 3. The position sensor is an incremental encoder. The control unit acquires and counts the pulse signals output by the incremental encoder to determine the current position of the locker. Each rotation of the incremental encoder outputs hundreds to thousands of pulses. By counting these pulses, the control unit can analyze the motor's rotation in extremely small angular increments, thereby indirectly determining the locker's linear displacement with sub-millimeter resolution. This enables precise calculation of the locker's real-time position, improving the accuracy of real-time position determination. Furthermore, compared to absolute encoders, incremental encoders are less expensive, thus enhancing the product's market competitiveness.

[0022] 4. The control unit stores the first position signal value and the second position signal value based on the pulse count value. The first position signal value corresponds to the start point of the journey, and the second position signal value corresponds to the end point of the journey. During the movement of the locker, the control unit acquires the pulse count value representing the current position of the locker in real time and compares it with the first position signal value and the second position signal value to determine whether the locker has reached the start point or the end point of the journey. This design quantifies the start and end positions of the travel into precise pulse count values, avoiding the uncertainties or minor variations that may exist in the trigger position settings of physical travel limit switches. This ensures that the locker can accurately stop at the start and end of its travel. Furthermore, by pre-storing the first and second position signal values ​​and positioning them between the existing two physical travel limit switches, a soft limit on the locker's 200-degree travel can be achieved, reducing reliance on physical travel limit switches. Secondly, by appropriately setting the first or second position signal value, it can be ensured that the bottom of the locker is flush with the bottom of the outer cabinet after it has risen to its final position. This compensates for discrepancies between the inner and outer cabinets caused by installation errors in the electric hanging cabinet or the physical travel limit switches, significantly reducing the installation difficulty and requirements of the electric hanging cabinet. Finally, the method of determining the start and end points of the travel using pulse count values ​​in this application also provides a precise digital coordinate basis for determining the pulse count value corresponding to the subsequent deceleration start position, thereby improving the accuracy of the deceleration start position determination.

[0023] 5. The lifting drive mechanism is equipped with a user-configurable mode. This design allows users to freely set the actual travel range of the locker according to their actual usage scenarios and personalized needs. This enables personalized and adaptable customization of the travel range. Regardless of the on-site installation conditions or different usage habits, users can accurately set the lifting range of the locker within a safe and usable space through the user-configurable mode. This greatly improves the product's universality and adaptability to different apartment types, usage habits, and installation environments, thereby enhancing the user experience.

[0024] 6. This technical solution specifically discloses a method for determining whether the current position of the locker is at the starting position of deceleration. If the pulse count value corresponding to the deceleration start position is a fixed value, then when the motor speed changes due to load or voltage fluctuations, it will inevitably lead to either premature deceleration, causing the locker to stop before reaching the end of the travel, or premature deceleration, resulting in overshoot or impact. The judgment method of this technical solution calculates the number of pulses L corresponding to the deceleration distance required at this moment based on the real-time motor speed V. Since L is proportional to the square of V, when the motor speed is slightly slower due to heavy load, the number of pulses L corresponding to the required deceleration travel will be smaller, and the deceleration point will be later; when the motor speed is slightly faster due to light load, the number of pulses L corresponding to the required deceleration travel will be larger, and the deceleration point will be automatically earlier. By continuously comparing whether the difference between the pulse count value at the current position and the signal value at the second position is equal to the currently calculated L, the system can start deceleration for the current motion state at the most appropriate time. This ensures that under any working condition, the physical distance from the deceleration start position to the end of the travel is just enough to uniformly decelerate the current speed to zero and stop at the end of the travel. Therefore, this judgment method improves the control accuracy of the deceleration travel and avoids overshoot or impact or insufficient travel when the locker stops.

[0025] 7. The main stroke includes a constant-speed stroke performed before the deceleration stroke: the lifting drive mechanism controls the locker to run at a constant target speed; the motor speed during the constant-speed stroke is set to the current speed V. This design ensures high motor efficiency during the constant-speed stroke, stable and easy-to-implement control algorithm, and optimized system power consumption and heat generation. Furthermore, maintaining a constant target speed provides users with a stable and reliable speed expectation regardless of load, avoiding the insecurity or cheapness caused by speed fluctuations. Finally, setting the motor speed during the constant-speed stroke to the current speed V used for calculating the deceleration start position reduces the real-time calculation burden on the control unit and improves the determinism of the system response.

[0026] 8. The main stroke of the locker's descent includes: Initial acceleration stroke: The lifting drive mechanism controls the locker to accelerate to a first speed V1 within a preset time T1; First constant speed stroke: The lifting drive mechanism controls the locker to run at a constant speed of the first speed V1. This design, by setting the initial acceleration stroke, allows the locker to smoothly transition from a standstill to the first speed V1, eliminating the mechanical shock or jerking sensation caused by instantaneous acceleration to the first speed V1, and significantly reducing the instantaneous peak load on the motor and motor drive circuit. The first constant speed stroke allows the locker to run at a relatively high first speed V1 for a certain period, shortening the time users spend waiting to retrieve items from the locker.

[0027] 9. The main stroke of the locker's descent movement also includes: a transitional deceleration stroke, where the lifting drive mechanism controls the locker to descend from a first speed V1 to a second speed V2 within a preset time T2; and a second constant speed stroke, where the lifting drive mechanism controls the locker to run at a constant speed of the second speed V2. If the locker directly enters the deceleration stroke after the first constant speed stroke, the deceleration stroke will be prolonged if the deceleration slope K remains unchanged, thus increasing the time the user spends waiting to retrieve items from the locker. If the deceleration stroke remains unchanged, the deceleration slope K needs to be increased, resulting in a more noticeable braking feel. By setting a transitional deceleration stroke to descend from the first speed V1 to the second speed V2, and then completing the second constant speed stroke at the second speed V2, the locker's movement speed before entering the deceleration stroke is reduced in advance. This allows the locker to use a lower second speed V2 as the initial speed for final deceleration, thus allowing for a smaller deceleration slope K. This achieves a more gentle and smooth gradual stopping effect, greatly improving the comfort and sophistication of the stopping phase, while also effectively shortening the time the user spends waiting to retrieve items.

[0028] 10. The starting point of the transition deceleration stroke is located at or below the midpoint of the total descent stroke. Since the probability of an impact occurring below the midpoint of the total descent stroke is much higher than above the midpoint, starting the transition deceleration stroke at or below the midpoint of the total descent stroke reduces the locker's speed below the midpoint. This reduces the impact force on the locker or obstacles even in the event of accidental contact. Furthermore, operating the locker at the first speed V1 above the midpoint of the total descent stroke ensures a stable movement rate, thus reducing the time users spend waiting to retrieve their items.

[0029] 11. The second speed V2 ≤ the first speed V1 / 2. With this design, even if the locker makes an accidental contact at the second speed V2, the impact force can be further reduced. At the same time, by making the second speed V2 smaller, the deceleration slope K can be set smaller, so that the locker decelerates to zero more smoothly and gently during the deceleration stroke.

[0030] 12. By controlling the motor to vibrate and emit sound when the locker reaches a specific operating state, a status indication is provided. Currently, electric hanging lockers primarily use sound and light indicators to indicate when they reach a specific operating state. Light indicators include common LED indicator lights and digital tubes, while sound indicators include buzzers. However, all these methods increase hardware costs. The buzzer itself and its required drive circuitry add extra component costs, and these components significantly occupy physical space and PCB layout area. This technical solution, on the other hand, uses motor vibration and sound to provide status indications without increasing hardware costs or occupying physical space, thus enabling miniaturized and compact designs. Finally, the vibration and sound indication immediately attracts the user's attention, prompting them to adjust the locker position or troubleshoot problems, thereby preventing the malfunction from escalating or causing secondary hazards.

[0031] 13. This technical solution achieves the sound by outputting a PWM signal from the control unit to the motor drive circuit, which causes the motor rotor to vibrate periodically and slightly. Its control logic is based on software and can be easily integrated into existing motor control programs. By updating the software, the prompt tone mode can be changed and new prompt types can be added. The product has extremely strong functional scalability.

[0032] 14. The motor vibration and sound generation control solution of this technical solution includes an adaptive calibration step to determine the critical threshold of the PWM signal duty cycle. Due to slight differences in magnet performance, winding resistance, and bearing preload between different individual motors, their minimum starting voltage (corresponding to the critical threshold of the PWM duty cycle) varies. Furthermore, changes in the internal resistance and magnetic properties of the same motor at different temperatures also affect this critical threshold. Therefore, this solution, through the adaptive calibration step, directly measures the accurate, real-time critical threshold under the current state in the actual system. This effectively eliminates performance uncertainties caused by component tolerances, aging, and temperature drift, ensuring that the PWM duty cycle of the prompt mode can be precisely set below the highest safe boundary of "just enough not to cause rotation" on any specific motor. This achieves the maximum possible vibration intensity and prompt volume while ensuring absolute safety (no false triggering). Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the storage cabinet at its lowest point in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the storage cabinet at its highest point in Embodiment 1 of the present invention; Figure 3 This is a modular schematic diagram showing the connection between the control unit and the drive unit in Embodiment 1 of the present invention; Figure 4This is a waveform diagram of the pulse signal output in the first embodiment of the present invention using an AB phase quadrature output method; Figure 5 This is a flowchart of the lifting control method in Embodiment 1 of the present invention; Figure 6 This is a line graph showing the relationship between the various travel distances and the locker speed during the descent of the locker in Embodiment 1 of the present invention. Figure 7 This is a line graph showing the relationship between the various strokes of the locker and its speed during the upward movement of the locker in Embodiment 1 of the present invention.

[0034] In the diagram, 100 is the outer cabinet; 200 is the storage cabinet; 300 is the lifting drive mechanism; 310 is the drive unit; 311 is the motor; 312 is the traction rope; 313 is the corner pulley; 314 is the position sensor; and 320 is the control unit. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the terms "upper," "lower," "left," "right," "longitudinal," "lateral," "inner," "outer," "vertical," "horizontal," "top," and "bottom," etc., which indicate orientation or positional relationships, are based solely on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device / component referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Example 1

[0036] Combination Figures 1 to 7 The electric hanging cabinet provided in this embodiment includes an outer cabinet 100, a storage cabinet 200, and a lifting drive mechanism 300. The lifting drive mechanism 300 drives the storage cabinet 200 to move up and down relative to the outer cabinet 100. The lifting drive mechanism 300 includes a control unit 320 and a drive unit 310. The control unit 320 is the main control board. The drive unit 310 includes a motor 311, a reduction gear set, a traction rope 312, a rope winding wheel, and a corner pulley 313 installed inside the outer cabinet 100. The traction rope 312 is a steel wire rope. One end of the traction rope 312 is connected to the rope winding wheel, and the other end extends downward after passing over the corner pulley 313 and connects to the storage cabinet 200. In this embodiment, there are two traction ropes 312, two rope winding wheels, and two corner pulleys 313. One end of each of the two traction ropes 312 is connected to one of the two rope winding wheels, and the other end of each of the two traction ropes 312 extends downward after passing over the corner pulleys 313 on the left and right sides and connects to the storage cabinet 200. On both the left and right sides, vertically extending guide rails are provided on the two inner side walls of the outer cabinet 100. The left and right sides of the storage cabinet 200 slide with the guide rails. The control unit 320 can control the motor 311 to drive the two rope wheels to rotate synchronously through the reduction gear set, so as to retract or release the traction rope 312. Figure 1 Figure 2 shows a schematic diagram of the locker 200 stopping at its lowest point when the traction rope 312 is released, and a schematic diagram of the locker 200 stopping at its highest point when the traction rope 312 is retrieved.

[0037] The lifting control method for the electric overhead cabinet in this embodiment includes: The lifting drive mechanism 300 responds to the control command and drives the locker 200 to move up and down between a preset travel start point and travel end point. The lifting motion includes the main travel and the deceleration travel. The current position of the locker 200 is obtained in real time during the main stroke. When the locker 200 moves to the deceleration start position of the deceleration stroke, the lifting drive mechanism 300 controls the locker 200 to perform the deceleration stroke. The deceleration stroke is set by the lifting drive mechanism 300 controlling the locker 200 to decelerate with a preset deceleration slope K until it stops at the end of the stroke. The deceleration start position is the starting point of the deceleration stroke required to decelerate the locker 200 from the current running speed to the stop.

[0038] In this embodiment, by controlling the locker 200 to decelerate smoothly before reaching the end of its travel stroke, the locker 200 can smoothly decelerate to zero speed and stop at the end of the stroke after the main travel. This allows the deceleration to reach zero and the travel to end simultaneously, thus avoiding overshoot caused by inertia and preventing hard collisions with the mechanical limit switch, extending the service life of the mechanical limit switch. In addition, the smooth deceleration process allows the kinetic energy of the locker 200 and its load to be absorbed and dissipated smoothly and gradually, rather than being forcibly eliminated by rigid collisions in an instant, thereby effectively eliminating the problems caused by instantaneous stopping. The system addresses issues of rigid impact, structural vibration, and impact noise, thereby improving the user experience. It also significantly reduces fatigue damage to the electric hanging cabinet caused by repeated impacts, extending the product's lifespan. Finally, with the lifting control method of this embodiment, the main stopping process is entirely completed by the deceleration stroke. The physical travel limit switch only provides a final safety protection in case the lifting control method fails unexpectedly. This avoids premature damage to the physical travel limit switch due to frequent impacts, forming a dual safety guarantee system of active precise control as the primary method and passive trigger limit protection as a secondary method, preventing the storage cabinet from overtraveling by 200 degrees.

[0039] like Figure 3As shown, the drive unit 310 in this embodiment also includes a position sensor 314 for detecting the rotation of the motor 311. The control unit 320 receives the feedback signal from the position sensor 314 and uses it to control the drive unit 310. The feedback signal from the position sensor 314 represents the position signal of the locker 200. The control unit 320 is configured to determine the current position of the locker 200 based on the feedback signal from the position sensor 314. In this way, the control unit 320 can grasp the real-time position of the locker 200, which facilitates the real-time acquisition of the current position of the locker 200 during the main stroke. Furthermore, the determination of the deceleration start position depends on real-time position data, rather than a preset time or estimated value, thereby improving the accuracy and reliability of the deceleration start position determination and further achieving precise stopping without overshoot.

[0040] In this embodiment, the position sensor 314 is an incremental encoder mounted on the motor 311. When the motor 311 rotates, the incremental encoder continuously emits pulse signals. On the one hand, the control unit can determine the current position of the locker 200 by acquiring and counting the pulse signals output by the incremental encoder. That is, the control unit 320 can calculate the cumulative number of rotations of the motor 311 by acquiring and counting the pulse signals output by the incremental encoder. Then, based on the gear transmission conversion inside the drive unit 310, the number of rotations of the motor 311 and the length of the traction rope 312 contraction or release can be obtained. Since the traction rope 312 is directly connected to the locker 200, the current position of the locker 200 can be determined by counting the pulse signals output by the incremental encoder. The specific calculation method is existing technology and will not be described in detail here. Since an incremental encoder can output hundreds to thousands of pulses per revolution, by counting these pulses, the control unit 320 can analyze the rotation of the motor 311 in extremely small angular increments, thereby indirectly determining the linear displacement of the locker 200 with sub-millimeter resolution. This enables precise calculation of the real-time position of the locker 200 and improves the accuracy of judging the real-time position of the locker 200. In addition, compared with absolute encoders, incremental encoders are less expensive, thereby improving the product's market competitiveness.

[0041] On the other hand, the control unit 320 can also obtain the current motor speed based on the acquired pulse signal and the internal timer or timer duration. There are two main methods for calculating motor speed: the T-method (period measurement method) and the M-method (frequency measurement method). The T-method converts the width of the pulse signal (i.e., the time interval between two adjacent pulses) into the motor speed. The M-method counts the number of pulse signals within a fixed time T, and the current motor speed can be calculated using the number of pulses and the fixed time T. When the incremental encoder rotates the motor 311, it outputs pulse signals. When the motor 311 rotates forward, the pulse signal count is added; when the motor 311 rotates in reverse, the pulse count is subtracted (or subtraction can be performed during forward rotation and addition during reverse rotation). A system uses only one counting method. For example, to illustrate how to convert motor speed using pulses, assume the incremental encoder uses a two-pair magnetic ring, and the pulse signal is output in an AB phase quadrature manner, with the waveform as shown below. Figure 4 As shown, each change in the voltage level of phase A or phase B (from high to low, or from low to high) is counted as one count. Whether the count increases or decreases depends on the rotation direction of motor 311. With a two-pole magnetic ring, one rotation of motor 311 (one rotation of the magnetic ring) outputs two pulse signals from phase A and two pulse signals from phase B, for a total of four pulse signals (4PPR), or eight voltage level changes, or eight signal counts (8CPR). Assuming the M-method is used to calculate the motor speed, the timer checks the Hall signal count within a fixed interval (e.g., 20ms). If 10 Hall signals are detected, the Hall signal count per minute is 10 * 50 * 60 = 30,000. Since one rotation of the motor is counted as eight Hall signals, the motor speed is 30,000 / 8 = 3750 revolutions per minute. Through this method, the control unit can obtain the current motor speed information. Assuming the T-method is used to convert the motor speed, the main control board detects the pulse width of the A-phase or B-phase waveform in real time. For example, if the main control board detects the high-level duration of the A-phase waveform, and the high-level duration is 5ms, the A-phase outputs a total of 2 pulse signals (2 high-level times + 2 low-level times) for one rotation of the 2-pole magnetic ring motor. The time for the motor to rotate one revolution is 5ms * 4 = 20ms. Therefore, the number of revolutions the motor makes in 1 minute is 60 * 1000 / 20 = 3000 revolutions, that is, the motor speed is 3000 revolutions per minute.

[0042] Furthermore, in this embodiment, the control unit 320 stores a first position signal value and a second position signal value based on pulse count values. The first position signal value corresponds to the start point of the journey, and the second position signal value corresponds to the end point of the journey. During the movement of the locker 200, the control unit 320 acquires the pulse count value representing the current position of the locker 200 in real time and compares it with the first position signal value and the second position signal value to determine whether the locker 200 has reached the start point or the end point of the journey. That is, when the control unit 320 determines that the pulse count value representing the current position of the locker 200 in real time reaches the pulse count value corresponding to the first position signal value, it determines that the locker 200 has reached the start point of the journey. When the control unit 320 determines that the pulse count value representing the current position of the locker 200 in real time reaches the pulse count value corresponding to the second position signal value, it determines that the locker 200 has reached the end point of the journey. This design allows the starting and ending positions of the travel to be quantified into precise pulse count values, avoiding the uncertainties or minor variations that may exist in the trigger position settings of physical travel limit switches. This ensures that the locker 200 can accurately stop at the starting and ending points of the travel. Furthermore, by pre-storing the first and second position signal values ​​and ensuring that the positions corresponding to these values ​​are located between the two existing physical travel limit switches, soft limiting of the locker 200's travel can be achieved, reducing reliance on physical travel limit switches. Secondly, by reasonably setting the first or second position signal value, it can be ensured that the bottom of the locker 200 is flush with the bottom of the outer cabinet 100 after it has risen to its final position. This compensates for discrepancies between the inner and outer cabinets caused by installation errors in the electric hanging cabinet or the physical travel limit switches, significantly reducing the installation difficulty and requirements of the electric hanging cabinet. Finally, in this embodiment, the method of determining the starting and ending points of the travel using pulse count values ​​also provides a precise digital coordinate basis for determining the pulse count value corresponding to the subsequent deceleration starting position, thereby improving the accuracy of the deceleration starting position determination.

[0043] In this embodiment, commands can be sent to the control unit 320 via buttons or a remote control. The control unit 320 drives the locker 200 to rise or fall within the range limited by the upper and lower physical travel limit switches through the drive unit 310. During the rising or falling process, the control unit 320 can receive a stop command.

[0044] The existing storage cabinet 200, after rising to its position, may not be flush with the bottom of the outer cabinet 100 due to installation errors. To solve this technical problem, after the electric hanging cabinet is assembled, the storage cabinet 200 is first controlled to rise. Once the bottom of the storage cabinet 200 is flush with the bottom of the outer cabinet 100, a command is sent to stop the motor. After confirming the position is correct, a confirmation command for the upper limit position is sent to the control unit 320. At the same time, the pulse count value of the incremental encoder is recorded and used as the upper limit position of the soft limit, recorded as A. Similarly, a descent command is sent to the control unit 320, and the storage cabinet 200 descends. After descending to the appropriate position, a stop command is sent to stop the storage cabinet 200. After confirming the lower limit position is correct, a confirmation command for the lower limit position is sent. The control unit 320 records the pulse count value of the incremental encoder and uses it as the lower limit position of the soft limit, recorded as B. A and B are recorded in the memory of the control unit 320, which has a power-off retention function. After setting, exit the upper and lower limit setting mode and enter the normal operation mode. In the normal operation mode, the control unit 320 will acquire and count the pulse signals output by the incremental encoder in real time, and determine the specific position of the current locker 200 between A and B based on the data. At the same time, it receives external commands. When the locker 200 is raised according to the command, A is the end point of the stroke, and its corresponding signal value is the second position signal value. B is the start point of the stroke, and its corresponding signal value is the first position signal value. The lifting control method controls the locker 200 to rise to the end point A and then stop. When the locker 200 is lowered according to the command, A is the start point of the stroke, and its corresponding signal value is the first position signal value. B is the end point of the stroke, and its corresponding signal value is the second position signal value. The lifting control method controls the locker 200 to fall to the end point B and then stop. Thus, this embodiment can ensure that the bottom of the inner and outer cabinets are flush after the locker 200 is raised to the correct position. The lowering height can be flexibly adjusted according to the size of the locker 200 and the distance between the bottom of the locker and the lower platform, which can reduce the difficulty of the overall installation and facilitate terminal installation and debugging. Furthermore, each time the locker 200 stops operating, it records the current position data of the locker 200 in the memory of the control unit 320. After power is restored, the current position information, namely the upper limit position A and the lower limit position B, can be read from the memory.

[0045] like Figure 3 As shown, the drive unit also includes a motor drive circuit connected to the motor 311. The motor control module of the control unit 320 outputs a PWM signal to the motor drive circuit, which drives the motor 311 to rotate and causes the incremental encoder to continuously emit pulse signals. The control unit 320 calculates the real-time speed of the motor and the current position information of the locker 200 based on the pulse signals.

[0046] Furthermore, the lifting drive mechanism 300 in this embodiment is also equipped with a user setting mode, which includes: Upper limit setting mode: The lifting drive mechanism 300 responds to the user's start command and drives the locker 200 to rise; when the locker 200 moves to the position desired by the user, the lifting drive mechanism 300 responds to the user's stop command and records the current pulse count value, setting it as the upper limit position; Lower limit setting mode: The lifting drive mechanism 300 responds to the user's start command and drives the locker 200 to descend; when the locker moves to the position desired by the user, the lifting drive mechanism 300 responds to the user's stop command and records the current pulse count value, setting it as the lower limit position; During the descent of the locker, the lower limit setting is defined as the end point of the journey; During the upward movement of the locker, the upper limit setting is defined as the end point of the movement; Through the above design, users can freely set the actual operating range of the locker 200 according to their own actual usage scenarios and personalized needs, thereby realizing personalized and adaptive customization of the travel range. In this way, no matter what the on-site installation conditions or usage habits are different, users can accurately set the lifting range of the locker within a safe and usable space through the user setting mode, which greatly improves the product's universality and adaptability to different apartment types, different usage habits and different installation environments, thereby enhancing the user experience.

[0047] Furthermore, if the pulse count value corresponding to the deceleration start position is set to a fixed value, then when the motor speed changes due to load or voltage fluctuations, it will inevitably lead to either premature deceleration causing the storage cabinet 200 to stop before reaching the end of its travel, or premature deceleration causing overshoot or impact. To solve the above technical problems, such as... Figure 5 As shown, in this embodiment, the current position of the locker 200 is acquired in real time. When the locker 200 moves to the deceleration start position of the deceleration stroke, the lifting drive mechanism 300 controls the locker 200 to perform the deceleration stroke, including: The pulse count value representing the current position of the locker 200 and the current speed V of the motor 311 are acquired in real time. Calculate the theoretical deceleration distance L required to decelerate from the current speed V to a stop at a preset deceleration slope K. The calculation formula is L=0.5*V² / K*P, where P is the number of pulses generated by the motor in one revolution and K is the deceleration slope.

[0048] The pulse count value representing the current position of the locker 200 is compared with the second position signal value. It is determined whether the difference between the two meets the pulse count L. If the pulse count L is met, the current position of the locker 200 is determined as the deceleration start position and the locker 200 is controlled to perform the deceleration stroke. If the determination does not meet L, the output voltage is dynamically adjusted and the motor 311 is kept at the current speed.

[0049] The selection of the deceleration slope K requires balancing several requirements: to ensure stopping accuracy, K should not be too large; while to improve stopping efficiency, K should be as large as possible. At the same time, K must also match the system's maximum expected load. Therefore, this parameter needs to be determined through multiple experimental adjustments.

[0050] Therefore, the method used in this technical solution to determine whether the current position of the locker 200 is the starting position for deceleration is based on calculating the number of pulses L corresponding to the required deceleration distance at the real-time motor speed V. Since L is proportional to the square of V, when the motor speed is slightly slower due to heavy load, the number of pulses L corresponding to the required deceleration stroke will be smaller, and the deceleration point will be later. When the motor speed is slightly faster due to light load, the number of pulses L corresponding to the required deceleration stroke will be larger, and the deceleration point will be automatically earlier. By continuously comparing the difference between the pulse count value of the current position and the signal value of the second position with the currently calculated L, the system can start deceleration for the current motion state at the most appropriate time. This ensures that under any working condition, the physical distance from the starting position to the end of the stroke is just enough to uniformly decelerate the current speed to zero and stop at the end of the stroke. Thus, this judgment method improves the control accuracy of the deceleration stroke and avoids overshooting, impact, or incomplete stroke when the locker stops.

[0051] To implement the above judgment method, the control unit 320 in this embodiment also includes a calculation module. The calculation module is used to determine in real time whether the difference between the pulse count value of the current position of the locker 200 and the signal value of the second position meets the pulse count L. If the pulse count L is met, a signal is sent to the motor control module to reduce the output of the PWM control signal, thereby reducing the average voltage input to the motor 311, thereby controlling the motor 311 to decelerate. The speed change of the motor 311 causes the pulse signal sent by the incremental encoder to change, which is received by the control unit 320 again, forming a complete closed-loop control.

[0052] Preferably, in this embodiment, the main stroke includes a constant-speed stroke performed before the deceleration stroke: the lifting drive mechanism controls the locker 200 to run at a constant target speed; the motor speed during the constant-speed stroke is set to the current speed V. With this design, during the constant-speed stroke, the motor 311 operates efficiently at a constant target speed, the control algorithm is stable and easy to implement, and system power consumption and heat generation are optimized. Furthermore, regardless of the load, maintaining a constant target speed provides users with a stable and reliable speed expectation, avoiding the insecurity or cheapness caused by speed fluctuations. Finally, setting the motor speed during the constant-speed stroke to the current speed V used for calculating the deceleration start position reduces the real-time calculation burden on the control unit and improves the determinism of the system response.

[0053] The main stroke of the descent motion of the locker 200 includes: Start acceleration stroke: The lifting drive mechanism controls the locker to accelerate to the first speed V1 within a preset time T1; First constant speed stroke: The lifting drive mechanism controls the locker to run at a constant speed of the first speed V1.

[0054] During the transition deceleration stroke, the lifting drive mechanism controls the locker to descend from the first speed V1 to the second speed V2 within a preset time T2. In addition, the second constant speed stroke, the lifting drive mechanism controls the locker to run at a constant speed of the second speed V2.

[0055] This design, by setting the initial acceleration stroke, allows the locker 200 to smoothly transition from a standstill to the first speed V1, eliminating the mechanical shock or jerking sensation caused by instantaneous acceleration to the first speed V1. It also significantly reduces the instantaneous peak load on the motor and motor drive circuit. Setting the first constant speed stroke allows the locker 200 to operate at a relatively high first speed V1 for a certain period, shortening the time users spend waiting to retrieve items from the locker 200. Furthermore, if the deceleration stroke were to begin directly after the first constant speed stroke, with the deceleration slope K remaining constant, it would prolong the deceleration stroke, thus increasing the time users spend waiting to retrieve items from the locker 200. If the time increases while the deceleration stroke remains the same, the deceleration slope K needs to be increased, resulting in a more noticeable braking feel from the locker 200. However, by setting a transitional deceleration stroke to reduce the speed from the first speed V1 to the second speed V2, and then completing the second constant speed stroke at the second speed V2, the movement speed of the locker 200 before entering the deceleration stroke can be reduced in advance. This allows the locker 200 to use a lower second speed V2 as the initial speed for the final deceleration, thus allowing for a smaller deceleration slope K. This achieves a more gentle and smooth gradual stopping effect, greatly improving the comfort and sophistication of the stopping phase, while also effectively shortening the time users spend waiting to retrieve their items.

[0056] It should be noted that during the main stroke of the downward movement of the locker 200, the second constant speed stroke constitutes the constant speed stroke executed before the deceleration stroke. Therefore, the number of pulses L corresponding to the theoretical deceleration distance required to decelerate from the current speed V2 to a stop at the preset deceleration slope K is calculated using the formula L=0.5*V2² / K*P.

[0057] Furthermore, in this embodiment, the starting point of the transition deceleration stroke is located at or below the midpoint of the total descent stroke. Since the probability of an impact occurring below the midpoint of the total descent stroke is much higher than above the midpoint, placing the starting point of the transition deceleration stroke at or below the midpoint of the total descent stroke reduces the speed of the locker 200 below the midpoint of the total descent stroke. This reduces the impact force on the locker 200 or obstacles even in the event of accidental contact. In addition, operating the locker 200 at a first speed V1 above the midpoint of the total descent stroke ensures the movement rate of the locker 200, thereby shortening the time the user waits to retrieve items.

[0058] Preferably, the second speed V2 ≤ the first speed V1 / 2. With this design, even if the locker 200 makes an accidental contact at the second speed V2, the impact force can be further reduced. At the same time, by making the second speed V2 smaller, the deceleration slope K can be set smaller, so that the locker 200 decelerates to zero more smoothly and gently during the deceleration stroke.

[0059] Figure 6 The figure shows a line graph showing the relationship between the speed of the locker and each stroke during the descent of the locker 200 in this embodiment. The acceleration phase (S0→S1) employs a fixed-time uniform acceleration control, with the target being that the speed linearly increases from 0 to V1 within a preset time T1. The control unit 320 outputs a PWM signal to the motor drive circuit of the drive unit, whose duty cycle linearly increases from its initial value to 100% (corresponding to the motor's maximum rated voltage) within the preset time T1. This phase is fixed and not dynamically adjusted to ensure consistent startup response.

[0060] The first constant speed stroke corresponds to (S1→S2): During this stroke, the locker 200 runs at a constant speed of the first speed V1. The first speed V1 is the upper limit of the safe speed designed by the system. The first speed V1 takes into account the mechanical limits and safety considerations of the motor and structure. Even if an unexpected contact occurs in the middle and upper part of the total downward motion stroke, the impact force at this first speed V1 is within the safe range. From the user's perspective, running at a constant speed of the first speed V1 can effectively shorten the time the user waits to retrieve items.

[0061] Transition deceleration stroke (S2→S3): During this stroke, the locker 200 decelerates from the first speed V1 to the second speed V2 within a preset time T2; The second uniform speed stroke corresponds to (S3→S4): During this stroke, the locker 200 runs at a uniform speed of the first speed V2. The first speed V2 is preferably half of the first speed V1, i.e., V2 = 0.5 * V1. The probability of triggering the anti-collision is much higher in the lower half of the total downward motion stroke than in the upper half. Therefore, for safety and other considerations, V2 = 0.5 * V1 is used for areas with higher risks. At this speed, even if an accidental contact occurs, the impact force is very small, while maintaining a certain level of movement efficiency.

[0062] Deceleration stroke (S4→S5): During this stroke, the control unit 320 gradually reduces the PWM signal output to the motor drive circuit to reduce the average voltage controlled by the motor 311, so that the preset deceleration slope K controls the storage cabinet 200 to decelerate until it stops at the end point of the stroke S5.

[0063] It should be noted that different stroke positions correspond to different pulse counts, so the control unit 320 can control the locker 200 to enter different strokes based on the acquired pulse counts.

[0064] In addition, such as Figure 7 As shown, in this embodiment, the upward stroke of the locker 200 includes: an acceleration stroke (S0→S1): uniform acceleration control over a fixed time, causing the locker's speed to accelerate from 0 to V3; a constant speed stroke (S1→S2): the locker 200 runs at a constant speed of V3; and a deceleration stroke (S2→S3): under the premise of speed V3, the PWM signal output by the control unit 320 to the motor drive circuit is gradually reduced to reduce the average voltage controlled by the motor 311, so that the preset deceleration slope K controls the locker 200 to decelerate until it stops at the end of the stroke. The acceleration stroke and the constant speed stroke constitute the main upward stroke, and the starting position S2 of the deceleration stroke is located in the second half of the total upward stroke, so as to reduce the deceleration slope K and shorten the total time used for upward movement.

[0065] Currently, the indication of electric hanging cabinets reaching a specific operating state is mainly based on sound and light prompts. Light prompts include common LED indicator lights and digital tubes, while sound prompts include buzzers. Whether it is an LED indicator light, digital tube, or buzzer, it will increase the hardware cost. The buzzer itself and its required driving circuit will increase the cost of additional components. At the same time, the components will occupy physical space and PCB layout area.

[0066] To address the aforementioned issues, the control unit 320 in this embodiment controls the motor 311 via a motor drive circuit. The lifting control method further includes: when the locker 200 reaches a specific operating state, controlling the motor 311 to vibrate and emit a sound to provide a status indication. The specific operating state includes at least one of the following: The locker 200 rises or falls to the end of its journey; The locker 200 triggers anti-pinch or anti-collision protection during its lifting and lowering movement. The lifting drive mechanism 300 detected an overcurrent or overheating fault.

[0067] The anti-pinch or anti-collision protection for the lifting movement of the storage cabinet 200 can refer to existing technology designs, such as the force sensor solution used in patent CN216751576U, and the anti-collision solution with a floating plate installed at the bottom of the hanging cabinet used in CN218044284U. The detection of overcurrent or overheating faults in the lifting drive mechanism 300 by the motor 311 can also refer to existing technology designs, and will not be detailed here.

[0068] In this embodiment, the status is indicated by controlling the motor 311 to vibrate and make a sound, without increasing hardware costs or occupying physical space, thus making it suitable for miniaturized and compact designs. Finally, the status indication by vibration and sound can immediately attract the user's attention, prompting the user to raise or lower the locker 200 to the correct position or to troubleshoot the problem, thereby preventing the malfunction from escalating or causing secondary dangers.

[0069] The control motor 311 for vibration and sound generation includes: Control unit 320 outputs PWM signal to motor drive circuit; The frequency of the PWM signal is set within the range of frequencies audible to the human ear; The duty cycle of the PWM signal is set below the critical threshold, so that the average voltage applied to the motor 311 is lower than the minimum starting voltage of the motor; The PWM signal is applied to the motor 311, causing the motor rotor to vibrate periodically and produce sound.

[0070] In this embodiment, the average voltage applied to the motor 311 can be controlled by adjusting the duty cycle of the PWM signal. The frequency of voltage switching across the motor 311 can be controlled by adjusting the frequency of the PWM signal, which must be within the range audible to the human ear. Based on the motor's minimum starting voltage (minimum rotational voltage), the software sets an output duty cycle below a critical threshold. This duty cycle ensures that the average voltage applied across the motor is less than the minimum starting voltage. Therefore, when the PWM signal with this duty cycle is applied to the motor, the motor will not rotate. The application of the PWM signal causes the motor rotor to be energized and de-energized continuously according to the frequency of the PWM signal, resulting in the rotor vibrating back and forth in the stator slots and generating sound. The vibration frequency matches the frequency of the PWM signal. Furthermore, different beeping frequencies or the duration of a single beep can be set at fixed intervals to indicate different states. For example, two consecutive beeps indicate overcurrent, and three consecutive beeps indicate overheat protection.

[0071] Therefore, this technical solution achieves the sound by outputting a PWM signal to the motor drive circuit through the control unit 320 to make the motor rotor vibrate periodically and slightly. Its control logic is based on software and can be easily integrated into the existing motor control program. By updating the software, the prompt tone mode can be changed and new prompt types can be added. The product has extremely strong functional scalability.

[0072] The larger the duty cycle of the PWM, the greater the average voltage applied across the motor terminals, the more obvious the vibration of the motor rotor, the higher the decibel value of the motor sound, and the louder the sound. In order to increase the prompt volume, the duty cycle of the PWM signal in this embodiment is approximately between 0.90 and 0.99 of the critical threshold.

[0073] Finally, due to slight differences in magnet performance, winding resistance, and bearing preload between different individual motors, their minimum starting voltage (corresponding to the critical threshold of the PWM duty cycle) is also inconsistent. Furthermore, changes in the internal resistance and magnetic properties of the same motor at different temperatures will also affect this critical threshold. To obtain the most accurate critical threshold for the PWM signal duty cycle under the current motor condition, this embodiment includes an adaptive calibration step for controlling motor vibration and sound generation. This adaptive calibration step includes: S100 and control unit 320 output a test PWM signal with a set initial duty cycle to the motor drive circuit; S200, The position sensor 314 monitors whether the motor 311 is rotating; If so, proceed to step S300; If not, return to step S100 and increase the duty cycle of the PWM signal; S300: Set the duty cycle of the PWM signal that is currently causing the motor to rotate to the critical threshold.

[0074] This design, through the execution of adaptive calibration steps, directly measures the accurate, real-time critical threshold under the current state in the actual system, thereby effectively eliminating performance uncertainties caused by component tolerances, aging, temperature drift, etc., ensuring that on any specific motor, the PWM duty cycle of the prompt mode can be accurately set below the highest safety boundary of "just enough not to cause rotation", thus achieving the maximum possible vibration intensity and prompt volume while ensuring absolute safety (no false operation).

[0075] In addition to the preferred embodiments described above, the present invention may have other embodiments. Those skilled in the art can make various changes and modifications based on the present invention, and all such changes and modifications should fall within the scope defined in the claims of the present invention, as long as they do not depart from the spirit of the present invention.

Claims

1. A lifting control method of an electric hanging cabinet, the electric hanging cabinet comprising an outer cabinet body, a storage cabinet and a lifting driving mechanism, the lifting driving mechanism driving the storage cabinet to make lifting movement relative to the outer cabinet body, characterized in that, The lifting control method includes: The lifting drive mechanism responds to control commands and drives the locker to move up and down between a preset travel start point and travel end point. This lifting motion includes a main travel and a deceleration travel. The current position of the locker is obtained in real time during the main stroke. When the locker moves to the deceleration start position of the deceleration stroke, the lifting drive mechanism controls the locker to perform the deceleration stroke. The deceleration stroke is set by the lifting drive mechanism to control the locker to decelerate with a preset deceleration slope K until it stops at the end of the stroke. The deceleration start position is the starting point of the deceleration stroke required to decelerate the locker from the current running speed to a stop.

2. The lifting control method for the electric overhead cabinet as described in claim 1, characterized in that, The lifting drive mechanism includes a control unit and a drive unit. The drive unit includes a motor and a position sensor for detecting the rotation of the motor. The control unit receives feedback signals from the position sensor and uses these signals to control the drive unit. The feedback signals from the position sensor characterize the position signal of the locker. The control unit is configured to determine the current position of the locker based on the feedback signals from the position sensor.

3. The lifting control method for the electric overhead cabinet as described in claim 2, characterized in that, The position sensor is an incremental encoder. The control unit acquires and counts the pulse signals output by the incremental encoder to determine the current position of the locker.

4. The lifting control method for the electric overhead cabinet as described in claim 3, characterized in that, The control unit stores a first position signal value and a second position signal value based on the pulse count value. The first position signal value corresponds to the start of the journey, and the second position signal value corresponds to the end of the journey. During the movement of the locker, the pulse count value representing the current position of the locker is acquired in real time and compared with the first position signal value and the second position signal value to determine whether the locker has reached the start or end of the journey.

5. The lifting control method for the electric overhead cabinet as described in claim 4, characterized in that, The lifting drive mechanism is configured with a user-settable mode, including: Upper limit setting mode: The lifting drive mechanism responds to the user's start command and drives the locker to rise; when the locker moves to the position desired by the user, the lifting drive mechanism responds to the user's stop command and records the current pulse count value, setting it to the upper limit position; Lower limit setting mode: The lifting drive mechanism responds to the user's start command and drives the locker to descend; when the locker moves to the position desired by the user, the lifting drive mechanism responds to the user's stop command and records the current pulse count value, which is then set as the lower limit position; During the descent of the locker, the lower limit setting is defined as the end point of the journey; During the upward movement of the locker, the upper limit setting is defined as the end point of the movement.

6. The lifting control method for the electric overhead cabinet as described in claim 4, characterized in that, The real-time acquisition of the current position of the locker, and the control of the lifting drive mechanism to execute the deceleration stroke when the locker moves to the deceleration start position of the deceleration stroke, includes: Real-time acquisition of pulse count values ​​representing the current position of the locker, and the current motor speed V; Calculate the theoretical deceleration distance L required to decelerate from the current speed V to a stop at a preset deceleration slope K. The calculation formula is L=0.5*V² / K*P, where P is the number of pulses generated by the motor in one revolution. The pulse count value representing the current position of the locker is compared with the second position signal value. It is determined whether the difference between the two satisfies the pulse count L. If the pulse count L is satisfied, the current position of the locker is determined as the deceleration start position and the locker is controlled to perform the deceleration stroke.

7. The lifting control method for the electric overhead cabinet as described in claim 6, characterized in that, The main stroke includes a constant speed stroke performed before the deceleration stroke: the lifting drive mechanism controls the locker to run at a constant target speed; the motor speed during the constant speed stroke is set to the current speed V.

8. The lifting control method for the electric overhead cabinet as described in claim 1, characterized in that, The main stroke of the locker's descent includes: Start acceleration stroke: The lifting drive mechanism controls the locker to accelerate to the first speed V1 within a preset time T1; First constant speed stroke: The lifting drive mechanism controls the locker to run at a constant speed of the first speed V1.

9. The lifting control method for the electric overhead cabinet as described in claim 8, characterized in that, The main stroke of the locker's descent movement also includes: During the transition deceleration stroke, the lifting drive mechanism controls the locker to descend from a first speed V1 to a second speed V2 within a preset time T2; and... During the second constant speed stroke, the lifting drive mechanism controls the locker to run at a constant speed of V2.

10. The lifting control method for the electric overhead cabinet as described in claim 9, characterized in that, The starting point of the transition deceleration stroke is located at or below the midpoint of the total descent stroke.

11. The lifting control method for the electric overhead cabinet as described in claim 9, characterized in that, The second velocity V2 is less than or equal to the first velocity V1 / 2.

12. The lifting control method for the electric overhead cabinet as described in claim 2, characterized in that, The drive unit further includes a motor drive circuit, and the control unit controls the motor to move through the motor drive circuit. The lifting control method further includes: controlling the motor to vibrate and make a sound when the locker reaches a specific operating state to provide a status indication. The specific operating state includes at least one of the following: The locker will rise or fall to the end of the journey; The locker's lifting and lowering motion triggers anti-pinch or anti-collision protection. The lifting drive mechanism detected an overcurrent or overheating fault.

13. The lifting control method for the electric overhead cabinet as described in claim 12, characterized in that, The control of the motor to vibrate and produce sound includes: The control unit outputs a PWM signal to the motor drive circuit. The frequency of the PWM signal is set within the range of frequencies audible to the human ear; The duty cycle of the PWM signal is set below the critical threshold so that the average voltage applied to the motor is lower than the motor's minimum starting voltage; A PWM signal is applied to the motor, causing the motor rotor to vibrate periodically with small amplitudes, thus producing a sound.

14. The lifting control method for the electric overhead cabinet as described in claim 13, characterized in that, The control of motor vibration and sound generation includes an adaptive calibration step for determining a critical threshold for the duty cycle of the PWM signal. The adaptive calibration step includes: S100: The control unit outputs a test PWM signal with a set initial duty cycle to the motor drive circuit; S200: Monitor whether the motor is rotating using the position sensor; If so, proceed to step S300; If not, return to step S100 and increase the duty cycle of the PWM signal; S300: Set the duty cycle of the PWM signal that is currently causing the motor to rotate to the critical threshold.

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