A door opening method, apparatus and a refrigerator

Abstract

The application relates to a door opening method and device and a refrigerator. The method comprises the following steps: determining distance information and angle information between a measured target and a millimeter wave radar based on feedback signals received by the millimeter wave radar installed on a refrigerator door body; and controlling the refrigerator to open the door based on the distance information and the angle information between the measured target and the millimeter wave radar. The method can solve the problem of poor universality of existing automatic door opening technology.

Description

Technical Field

[0001] This application relates to the field of home appliance technology, and in particular to a door opening method, device, and refrigerator. Background Technology

[0002] With the development of electronic technology, people's demand for intelligent home appliances is gradually increasing. Automatic door opening is a trend in the development of home appliances, especially for home appliances with embedded handle-less door structures, which need to solve the opening problem of handle-less doors.

[0003] In existing technologies, automatic opening of handleless doors is mainly achieved by installing an opening button on the door, using voice commands, or knocking on the door according to preset rules. However, installing an opening button requires a control circuit connected to the button on the door panel. Voice command control requires a microphone on the door panel. When the door panel cannot accommodate either a circuit or a microphone, this method cannot achieve automatic opening. Furthermore, using knocking on the door according to preset rules can cause interference when multiple doors are involved, leading to inaccurate door opening recognition. Therefore, existing automatic door opening methods suffer from poor versatility.

[0004] Existing automatic door opening technologies suffer from poor versatility, and no effective solution has yet been proposed. Summary of the Invention

[0005] Therefore, it is necessary to provide a door opening method, a device, and a refrigerator to address the aforementioned technical problems.

[0006] Firstly, this application provides a method for opening a door. The method includes the following steps:

[0007] Based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door, the distance and angle information between the target and the millimeter-wave radar are determined.

[0008] Based on the distance information and angle information between the target and the millimeter-wave radar, the refrigerator door is controlled to open.

[0009] In one embodiment, determining the distance and angle information between the target and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door includes the following steps:

[0010] Based on multiple feedback signals received by the millimeter-wave radar installed on the refrigerator door for the same transmitted signal, the distance information and angle information between the target and the millimeter-wave radar are determined.

[0011] In one embodiment, determining the distance information and angle information between the target and the millimeter-wave radar based on multiple feedback signals received by the millimeter-wave radar mounted on the refrigerator door for the same transmitted signal includes the following steps:

[0012] Using at least two receiving antennas corresponding to the millimeter-wave radar, multiple feedback signals received by the millimeter-wave radar for the same transmitted signal are acquired.

[0013] Based on multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, the distance information and angle information between the target and the millimeter-wave radar are determined.

[0014] In one embodiment, determining the distance information and angle information between the target and the millimeter-wave radar based on multiple feedback signals received by the millimeter-wave radar for the same transmitted signal includes the following steps:

[0015] Based on the timing information of any feedback signal received by the millimeter-wave radar in response to the transmitted signal, the timing information for determining the distance between the target under test and the millimeter-wave radar is obtained.

[0016] Based on the timing information of multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, the timing information of the distance difference between the target under test and the millimeter-wave radar is determined.

[0017] Based on the timing information of the distance difference between the target and the millimeter-wave radar, the timing information of the angle between the target and the millimeter-wave radar is determined.

[0018] In one embodiment, controlling the refrigerator door to open based on the distance information and angle information between the target and the millimeter-wave radar includes the following steps:

[0019] Based on the time-series information of the distance between the target under test and the millimeter-wave radar, the time-series change information of the distance between the target under test and the millimeter-wave radar is determined;

[0020] Based on the time-series information of the angle between the target under test and the millimeter-wave radar, the time-series change information of the angle between the target under test and the millimeter-wave radar is determined;

[0021] Based on the temporal change information of the distance between the target and the millimeter-wave radar and the temporal change information of the angle, it is determined whether the temporal change of the position of the target relative to the refrigerator door satisfies the door opening logic.

[0022] When the temporal change of the position of the target under test relative to the refrigerator door satisfies the door opening logic, the refrigerator door is controlled to open.

[0023] In one embodiment, determining whether the temporal change of the position of the target relative to the refrigerator door satisfies the door opening logic based on the temporal change information of the distance between the target and the millimeter-wave radar and the temporal change information of the angle includes the following steps:

[0024] Based on the temporal change information of the distance between the target and the millimeter-wave radar, and the temporal change information of the angle, the temporal change of the position of the target relative to the refrigerator door is determined.

[0025] Based on the temporal change of the position of the target under test relative to the refrigerator door, determine whether the temporal change of the position of the target under test relative to the refrigerator door satisfies the door opening logic.

[0026] In one embodiment, determining whether the temporal change in the position of the target relative to the refrigerator door satisfies the door opening logic based on the temporal change in the position of the target relative to the refrigerator door includes the following steps:

[0027] When the temporal change of the position of the target relative to the refrigerator door is such that the target moves along a plane parallel to the refrigerator door within a preset height range, in a preset direction, and at a preset speed range, it is determined that the temporal change of the target relative to the refrigerator door satisfies the door opening logic; otherwise, it is determined that the temporal change of the target relative to the refrigerator door does not satisfy the door opening logic.

[0028] In one embodiment, determining the distance information and angle information between the target and the millimeter-wave radar based on multiple feedback signals received by the millimeter-wave radar mounted on the refrigerator door for the same transmitted signal further includes the following steps:

[0029] Based on a first feedback signal received by at least one millimeter-wave radar installed on the upper half of the refrigerator door in response to the transmitted signal, and a second feedback signal received by at least one millimeter-wave radar installed on the lower half of the refrigerator door in response to the transmitted signal, the distance and angle information between the target and each of the millimeter-wave radars are determined.

[0030] Secondly, this application also provides a door opening device. The device includes:

[0031] The information determination module is used to determine the distance and angle information between the target being measured and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door.

[0032] And a door opening control module, used to control the refrigerator door to open based on the distance information and angle information between the target being measured and the millimeter-wave radar.

[0033] Thirdly, this application also provides a refrigerator, including a refrigerator body and a refrigerator door, as well as a millimeter-wave radar and an intelligent detection unit located on the refrigerator door, wherein the millimeter-wave radar includes a transmitting antenna and at least two receiving antennas;

[0034] The transmitting antenna is used to transmit millimeter-wave radar signals to the target being measured;

[0035] The receiving antenna is used to receive the feedback signal after the millimeter-wave radar signal emitted by the transmitting antenna is reflected by the target under test;

[0036] The intelligent detection unit is used to determine the distance and angle information between the target and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door; and to control the refrigerator door to open based on the distance and angle information between the target and the millimeter-wave radar.

[0037] The aforementioned door opening method, device, and refrigerator utilize millimeter-wave radar, which can penetrate the door panel. This eliminates the need for installation on the refrigerator door panel, control circuitry, or microphones. It uses feedback information received by the millimeter-wave radar to determine the distance and angle between the target and the radar. Based on this information, it determines whether to open the door, achieving contactless door opening control solely through millimeter-wave radar feedback. This method is applicable even with multiple doors, solving the problem of poor versatility inherent in existing automatic door opening technologies.

[0038] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0039] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0040] Figure 1 A hardware structure block diagram of a terminal for a door opening method provided in an embodiment of this application;

[0041] Figure 2 A flowchart illustrating a door opening method provided in an embodiment of this application;

[0042] Figure 3 A schematic diagram illustrating the timing information of the distance between a hand and a millimeter-wave radar provided in an embodiment of this application;

[0043] Figure 4 A schematic diagram illustrating the timing information of the angle between a hand and a millimeter-wave radar, provided as an embodiment of this application;

[0044] Figure 5 A schematic diagram illustrating the timing information of the distance and angle between a hand and different radars provided in an embodiment of this application;

[0045] Figure 6 A flowchart of a preferred embodiment of the door opening method provided in this application;

[0046] Figure 7 This is a structural block diagram of a door opening device provided in an embodiment of this application;

[0047] Figure 8 This is a schematic diagram showing the positional relationship between the door opening device and the refrigerator door according to an embodiment of this application. Detailed Implementation

[0048] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0049] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0050] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. For example, it can run on a terminal. Figure 1 This is a hardware structure block diagram of the terminal of the door opening method in this embodiment. For example... Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown are illustrated.

[0051] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the door opening method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0052] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0053] This embodiment provides a door opening method. Figure 2 This is a flowchart of the door opening method in this embodiment, as follows: Figure 2 As shown, the process includes the following steps:

[0054] Step S210: Based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door, determine the distance and angle information between the target and the millimeter-wave radar.

[0055] In this step, the installation location of the millimeter-wave radar can vary depending on the type of refrigerator door. For example, if the refrigerator door has an inner door and an outer door from the inside out, the millimeter-wave radar is installed on the inner door; if the refrigerator door is a glass panel door, the millimeter-wave radar is installed on the inner side of the glass panel door. The inner door is the door that comes with the refrigerator, and the outer door can be a cabinet door panel superimposed on the main door. The millimeter-wave radar can be used to generate and transmit millimeter-wave radar signals, and receive feedback signals reflected back after the transmitted millimeter-wave radar signals are blocked by the target, so as to determine the distance and angle information between the target and the millimeter-wave radar based on different feedback signals.

[0056] The aforementioned distance information can be temporal information about the distance. Specifically, the temporal information about the distance can be information about how the distance changes over time. Similarly, the aforementioned angle information can be temporal information about the angle. Specifically, the temporal information about the angle between the target and the millimeter-wave radar can be information about how the angle changes over time.

[0057] Step S220: Based on the distance and angle information between the target and the millimeter-wave radar, control the refrigerator door to open.

[0058] The above-mentioned control of the refrigerator door opening based on the distance and angle information between the target and the millimeter-wave radar can be achieved by determining the time-series change information of the distance between the target and the millimeter-wave radar based on the time-series information of the distance between the target and the millimeter-wave radar, then determining the time-series change information of the angle between the target and the millimeter-wave radar based on the time-series information of the angle between the target and the millimeter-wave radar, and further determining whether the time-series change of the position of the target relative to the refrigerator door satisfies the door opening logic based on the time-series change information of the distance and the time-series change information of the angle between the target and the millimeter-wave radar. If the door opening logic is satisfied, the refrigerator door is controlled to open. The aforementioned determination of whether the temporal change of the target's position relative to the refrigerator door satisfies the door opening logic is based on the temporal change information of the distance and angle between the target and the millimeter-wave radar. This can be achieved by judging whether the temporal change information of the distance and angle between the target and the millimeter-wave radar satisfies the preset temporal change information of the distance and angle when the door opening logic is satisfied. When the temporal change information of the distance and angle between the target and the millimeter-wave radar satisfies the preset temporal change information of the distance and angle when the door opening logic is satisfied, the temporal change of the target's position relative to the refrigerator door satisfies the door opening logic; otherwise, the temporal change of the target's position relative to the refrigerator door does not satisfy the door opening logic.

[0059] Steps S210 to S220 described above utilize millimeter-wave radar, which can penetrate the door panel without needing to be installed on the refrigerator door panel. This eliminates the need for control circuitry or microphones on the door panel. By using feedback information received by the millimeter-wave radar, the distance and angle between the target and the radar are determined. Based on this information, the door opening is determined, achieving contactless door opening control solely through millimeter-wave radar feedback. This method is applicable even with multiple doors, solving the problem of poor versatility in existing automatic door opening technologies.

[0060] In one embodiment, step S210, based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door, determines the distance and angle information between the target and the millimeter-wave radar, including:

[0061] Step S212: Based on multiple feedback signals received by the millimeter-wave radar installed on the refrigerator door for the same transmitted signal, determine the distance and angle information between the target and the millimeter-wave radar.

[0062] Here, multiple feedback signals refer to two or more feedback signals. Specifically, they can be multiple feedback signals received by multiple receiving antennas of a millimeter-wave radar in response to a unified transmitted signal.

[0063] Specifically, in one embodiment, based on step S212, based on multiple feedback signals received by the millimeter-wave radar mounted on the refrigerator door for the same transmitted signal, the distance and angle information between the target and the millimeter-wave radar are determined, including:

[0064] Step S2122: Using at least two receiving antennas corresponding to the millimeter-wave radar, acquire multiple feedback signals received by the millimeter-wave radar for the same transmitted signal.

[0065] It should be noted that a millimeter-wave radar has one transmitting antenna and at least two receiving antennas. Therefore, for the same signal transmitted by the transmitting antenna, each receiving antenna will receive a feedback signal. In other words, multiple receiving antennas can receive multiple feedback signals for the same transmitted signal, which means that the millimeter-wave radar receives multiple feedback signals for the same transmitted signal.

[0066] Step S2124: Based on multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, determine the distance and angle information between the target and the millimeter-wave radar.

[0067] The aforementioned determination of distance and angle information between the target and the millimeter-wave radar based on multiple feedback signals received by the millimeter-wave radar for the same transmitted signal can be based on the timing information of the distance and the timing information of the angle between the target and the millimeter-wave radar.

[0068] Steps S2122 to S2124 above utilize at least two receiving antennas corresponding to the millimeter-wave radar to acquire multiple feedback signals received by the millimeter-wave radar for the same transmitted signal. By using the acquired multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, the distance and angle information between the target and the millimeter-wave radar are determined. The determination of the distance and angle information between the target and the millimeter-wave radar facilitates subsequent control of the refrigerator door opening based on the distance and angle information between the target and the millimeter-wave radar.

[0069] In another embodiment, step S2124 above, based on multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, determines the distance and angle information between the target and the millimeter-wave radar, including:

[0070] Step S1: Based on the timing information of any feedback signal received by the millimeter-wave radar in response to the transmitted signal, determine the timing information of the distance between the target and the millimeter-wave radar.

[0071] The aforementioned timing information for determining the distance between the target and the millimeter-wave radar based on the timing information of any feedback signal received by the millimeter-wave radar in response to the transmitted signal can be obtained by dividing the distance between the target and the millimeter-wave radar at different time points based on the timing information of any feedback signal received by the millimeter-wave radar in response to the transmitted signal and a preset distance division rule, thereby obtaining the timing information of the distance between the target and the millimeter-wave radar.

[0072] The aforementioned preset distance division rule can be based on the distance between the target and the millimeter-wave radar as fed back by the feedback signal, dividing the distance between the target and the millimeter-wave radar into long-range, medium-range, and short-range. This preset distance division rule can be specifically set according to specific circumstances. This embodiment only exemplifies dividing the distance between the target and the millimeter-wave radar into long-range, medium-range, and short-range; other division methods are also possible, and this embodiment does not impose specific limitations here.

[0073] Step S2: Based on the timing information of multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, determine the timing information of the distance difference between the target under test and the millimeter-wave radar.

[0074] For multiple receiving antennas of the same millimeter-wave radar, because the antennas are located at different positions, the distances between the target and the millimeter-wave radar corresponding to different reflected signals of the same transmitted signal received by the antennas are also different. Therefore, the timing information of the distance difference between the target and the millimeter-wave radar can be determined based on the timing information of the multiple feedback signals received by the millimeter-wave radar for the same transmitted signal.

[0075] Step S3: Based on the time-series information of the distance difference between the target and the millimeter-wave radar, determine the time-series information of the angle between the target and the millimeter-wave radar.

[0076] Because the positions of different receiving antennas are fixed, and the distance between any two receiving antennas is fixed, given the fixed distance between the two receiving antennas, the timing information of the distance difference between the target and the millimeter-wave radar, determined by the feedback signals from different receiving antennas, can be obtained. Based on this timing information of the distance difference between the target and the millimeter-wave radar, the timing information of the angle between the target and the millimeter-wave radar can be determined. Furthermore, by using a pre-set correspondence table between distance difference and angle, the angle between the target and the millimeter-wave radar at different times can be determined, thus establishing the timing information of the angle between them.

[0077] The angle between the target and the millimeter-wave radar can be defined as the angle between the straight line between the target and the millimeter-wave radar and the normal to the plane defined by the door panel of the refrigerator door where the millimeter-wave radar is located.

[0078] The aforementioned time-series information for determining the angle between the target and the millimeter-wave radar based on the distance difference between the target and the millimeter-wave radar can be obtained by dividing the angle between the target and the millimeter-wave radar at different time points based on the time-series information of the distance difference between the target and the millimeter-wave radar and the preset angle division rules, thereby obtaining the time-series information of the angle between the target and the millimeter-wave radar.

[0079] The aforementioned preset angle division rules can be based on the angle between the target and the millimeter-wave radar as fed back by the feedback signal, dividing the angle between the target and the millimeter-wave radar into large angles, medium angles, and small angles. These preset angle division rules can be specifically set according to specific circumstances. This embodiment only exemplifies dividing the angle between the target and the millimeter-wave radar into large angles, medium angles, and small angles; other division methods are also possible, and this embodiment does not impose specific limitations here.

[0080] Steps S1 to S3 above determine the time-series information of the distance between the target and the millimeter-wave radar based on the time-series information of any feedback signal received by the millimeter-wave radar in response to the transmitted signal. They also determine the time-series information of the angle between the target and the millimeter-wave radar based on the time-series information of multiple feedback signals received by the millimeter-wave radar in response to the same transmitted signal. By confirming the time-series information of the distance and the angle between the target and the millimeter-wave radar, they determine the time-series change information of the distance and the angle between the target and the millimeter-wave radar. Furthermore, they determine whether the time-series change of the position of the target relative to the refrigerator door satisfies the door opening logic.

[0081] In one embodiment, step S220 above, controlling the refrigerator door to open based on the distance and angle information between the target and the millimeter-wave radar, includes:

[0082] Step S222: Based on the time-series information of the distance between the target and the millimeter-wave radar, determine the time-series change information of the distance between the target and the millimeter-wave radar.

[0083] For example, if the target being measured is a hand, waving the hand in front of a refrigerator door will cause the hand to first approach the millimeter-wave radar and then move away from it, thus generating time-series information about the distance between the hand and the millimeter-wave radar. Figure 3 This is a schematic diagram illustrating the timing information of the distance between a hand and a millimeter-wave radar, provided as an embodiment of this application. Figure 3 As shown, as a hand passes in front of the refrigerator door, the temporal information of the distance between the hand and the millimeter-wave radar first changes from long distance to medium distance, then from medium distance to short distance, and then as the hand moves away from the millimeter-wave radar, it changes from short distance to medium distance, and then from medium distance to long distance. Therefore, based on the temporal information of the distance between the target and the millimeter-wave radar, the temporal change information of the distance between the target and the millimeter-wave radar can be determined.

[0084] Step S224: Based on the time-series information of the angle between the target and the millimeter-wave radar, determine the time-series change information of the angle between the target and the millimeter-wave radar.

[0085] For example, if the target being measured is a hand, waving the hand in front of a refrigerator door will cause the hand to first approach the millimeter-wave radar and then move away from it, forming the timing information of the angle between the hand and the millimeter-wave radar. Figure 4 This is a schematic diagram illustrating the timing information of the angle between a hand and a millimeter-wave radar, provided as an embodiment of this application. Figure 4As shown, as a hand passes in front of the refrigerator door, the temporal information of the angle between the hand and the millimeter-wave radar first changes from a large angle to a medium angle, then from a medium angle to a small angle. Furthermore, as the hand moves away from the millimeter-wave radar, the angle changes from a small angle to a medium angle, and then from a medium angle to a large angle. Therefore, based on the temporal information of the angle between the target and the millimeter-wave radar, the temporal change information of the angle between the target and the millimeter-wave radar can be determined.

[0086] Step S226: Based on the time-series change information of the distance and angle between the target and the millimeter-wave radar, determine whether the time-series change of the target's position relative to the refrigerator door satisfies the door opening logic.

[0087] In this embodiment, based on the temporal change information of the distance and angle between the target and the millimeter-wave radar, the temporal change of the position of the target relative to the refrigerator door can be determined. Then, based on the temporal change of the position of the target relative to the refrigerator door, it can be determined whether the temporal change of the target relative to the refrigerator door satisfies the door opening logic.

[0088] Step S228: When the temporal change of the position of the target under test relative to the refrigerator door satisfies the door opening logic, control the refrigerator door to open.

[0089] Steps S222 to S228 above determine the time-series change information of the distance between the target and the millimeter-wave radar based on the time-series information of the distance between the target and the millimeter-wave radar. Then, based on the time-series information of the angle between the target and the millimeter-wave radar, the time-series change information of the angle between the target and the millimeter-wave radar is determined. Finally, based on the time-series change information of the distance and the angle between the target and the millimeter-wave radar, it is determined whether the time-series change of the target's position relative to the refrigerator door satisfies the door opening logic. When the timing of changes in the refrigerator door's position satisfies the door-opening logic, the refrigerator door is opened. This system utilizes millimeter-wave radar, which can penetrate the door panel, eliminating the need for installation on the door panel itself, control circuitry, or microphones. It uses feedback information received by the millimeter-wave radar to determine the distance and angle between the target and the radar, and then uses this information to determine whether to open the door. This achieves contactless door opening control solely through millimeter-wave radar feedback, and remains applicable even with multiple doors. It solves the problem of poor versatility inherent in existing automatic door opening technologies.

[0090] In another embodiment, step S226 above, based on the temporal change information of the distance and angle between the target and the millimeter-wave radar, determines whether the temporal change of the target's position relative to the refrigerator door satisfies the door opening logic, including:

[0091] Step S2262: Based on the temporal change information of the distance between the target and the millimeter-wave radar, and the temporal change information of the angle, determine the temporal change of the position of the target relative to the refrigerator door.

[0092] Step S2264: Based on the temporal change of the position of the target under test relative to the refrigerator door, determine whether the temporal change of the position of the target under test relative to the refrigerator door satisfies the door opening logic.

[0093] Steps S2262 to S2264 above determine the temporal changes in the position of the target relative to the refrigerator door, and determine whether the temporal changes in the position of the target relative to the refrigerator door satisfy the door opening logic. By judging whether the temporal changes in the position of the target relative to the refrigerator door satisfy the door opening logic, it is convenient to control the refrigerator door to open when the temporal changes in the position of the target relative to the refrigerator door satisfy the door opening logic.

[0094] Further, in one embodiment, step S2264 above, determining whether the temporal change in the position of the target relative to the refrigerator door satisfies the door opening logic based on the temporal change in the position of the target relative to the refrigerator door, includes:

[0095] When the temporal change of the position of the target relative to the refrigerator door is such that the target moves along a plane parallel to the refrigerator door within a preset height range, in a preset direction, and at a preset speed range, the temporal change of the target's position relative to the refrigerator door is determined to satisfy the door opening logic; otherwise, the temporal change of the target's position relative to the refrigerator door is determined not to satisfy the door opening logic.

[0096] The aforementioned preset height range can be specifically set according to requirements, and this embodiment does not impose specific limitations on it. The aforementioned preset direction can be specifically set according to requirements, and this embodiment does not impose specific limitations on it. The aforementioned preset speed range can be specifically set according to requirements, and this embodiment does not impose specific limitations on it.

[0097] In one embodiment, based on step S212, determining the distance and angle information between the target and the millimeter-wave radar based on multiple feedback signals received by the millimeter-wave radar mounted on the refrigerator door for the same transmitted signal, further includes:

[0098] Step S2122: Based on the first feedback signal for the transmitted signal received by at least one millimeter-wave radar installed on the upper half of the refrigerator door, and the second feedback signal for the transmitted signal received by at least one millimeter-wave radar installed on the lower half of the refrigerator door, determine the distance information and angle information between the target and each millimeter-wave radar.

[0099] Because when the target being measured moves horizontally parallel to the refrigerator door panel, whether it moves horizontally above the millimeter-wave radar or below the millimeter-wave radar, there may be situations where the temporal change information of the distance between the target being measured and the millimeter-wave radar, as well as the temporal change information of the angle, are the same. In this case, the height information of the target being measured in the temporal change of the position of the target being measured relative to the refrigerator door may be inaccurate.

[0100] Based on this, at least one millimeter-wave radar can be installed in the upper half of the refrigerator door and at least one millimeter-wave radar can be installed in the lower half of the refrigerator door. The distance and angle information between the target and each millimeter-wave radar can be determined by the first feedback signal received by the at least one millimeter-wave radar installed in the upper half of the refrigerator door and the second feedback signal received by the at least one millimeter-wave radar installed in the lower half of the refrigerator door. Furthermore, based on the distance and angle information between the target and each millimeter-wave radar, the temporal and angular variation information of the distance between the target and the millimeter-wave radar installed on the upper half of the refrigerator door, as well as the temporal and angular variation information of the distance between the target and the millimeter-wave radar installed on the lower half of the refrigerator door, are determined. Then, based on these temporal and angular variation information, it is determined whether the temporal variation of the target's position relative to the refrigerator door satisfies the door-opening logic. Finally, when the temporal variation of the target's position relative to the refrigerator door satisfies the door-opening logic, the refrigerator door is opened.

[0101] For example, if the target being measured is a hand, a millimeter-wave radar (radar 1) is installed in the center of the upper half of the refrigerator door, and a millimeter-wave radar (radar 2) is installed in the center of the lower half of the refrigerator door. Radar 2 is located directly below radar 1 and is preset in front of the refrigerator door. When a hand is waved horizontally at the height of radar 1, the refrigerator door will open. When a hand is waved in front of the refrigerator door, the hand will first approach radar 1 or radar 2 and then leave radar 1 or radar 2, forming the timing information of the distance and angle between the hand and radar 1, as well as the timing information of the distance and angle between the hand and radar 2. Figure 5This is a schematic diagram illustrating the timing information of the distance and angle between a hand and different radars, provided as an embodiment of this application. Figure 5 As shown, only when the timing information of the distance and angle between the refrigerator and each radar meets the requirements... Figure 5 When the timing information is consistent, the timing change of the position of the target being tested relative to the refrigerator door is determined to satisfy the door opening logic.

[0102] The present embodiment will now be described and illustrated through preferred embodiments.

[0103] Figure 6 This is a flowchart of a preferred embodiment of the door opening method provided in this application. Figure 6 As shown, the door opening method includes the following steps:

[0104] Step S601: Using at least two receiving antennas corresponding to the millimeter-wave radar, acquire multiple feedback signals received by the millimeter-wave radar for the same transmitted signal.

[0105] Step S602: Based on the timing information of any feedback signal received by the millimeter-wave radar in response to the transmitted signal, determine the timing information of the distance between the target under test and the millimeter-wave radar.

[0106] Step S603: Based on the timing information of multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, determine the timing information of the distance difference between the target and the millimeter-wave radar.

[0107] Step S604: Based on the timing information of the distance difference between the target and the millimeter-wave radar, determine the timing information of the angle between the target and the millimeter-wave radar.

[0108] Step S605: Based on the time-series information of the distance between the target and the millimeter-wave radar, determine the time-series change information of the distance between the target and the millimeter-wave radar;

[0109] Step S606: Based on the time-series information of the angle between the target and the millimeter-wave radar, determine the time-series change information of the angle between the target and the millimeter-wave radar.

[0110] Step S607: Based on the time-series change information of the distance and angle between the target and the millimeter-wave radar, determine whether the time-series change of the position of the target relative to the refrigerator door satisfies the door opening logic.

[0111] Step S608: When the timing change of the position of the target under test relative to the refrigerator door satisfies the door opening logic, control the refrigerator door to open.

[0112] Steps S601 to S608 described above utilize millimeter-wave radar, which can penetrate the door panel without needing to be installed on the refrigerator door panel. This eliminates the need for control circuitry or microphones on the door panel. By using feedback information received by the millimeter-wave radar, the distance and angle between the target and the radar are determined. Based on this information, the door opening is determined, achieving contactless door opening control solely through millimeter-wave radar feedback. This method is applicable even with multiple doors, solving the problem of poor versatility in existing automatic door opening technologies.

[0113] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0114] Based on the same inventive concept, this embodiment also provides a door opening device for implementing the above embodiments and preferred embodiments, which will not be repeated as already described. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that achieve a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0115] In one embodiment, Figure 7 This is a structural block diagram of a door opening device provided in one embodiment of this application, as shown below. Figure 7 As shown, the door opening device includes:

[0116] The information determination module 72 is used to determine the distance and angle information between the target and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door.

[0117] And a door opening control module 74, used to control the refrigerator door to open based on the distance and angle information between the target and the millimeter-wave radar.

[0118] The aforementioned door opening device utilizes millimeter-wave radar, which can penetrate the door panel. It eliminates the need for installation on the refrigerator door panel, as well as control circuitry or microphones. By using feedback information received by the millimeter-wave radar, it determines the distance and angle between the target and the radar, and then uses this information to determine whether to open the door. This achieves contactless door opening control solely through millimeter-wave radar feedback, and remains applicable even with multiple doors. It solves the problem of poor versatility inherent in existing automatic door opening technologies.

[0119] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0120] In one embodiment, a refrigerator is provided, including a refrigerator body and a refrigerator door, as well as a millimeter-wave radar and an intelligent detection unit located on the refrigerator door. The millimeter-wave radar includes a transmitting antenna and at least two receiving antennas. The transmitting antenna is used to transmit millimeter-wave radar signals to a target being measured. The receiving antennas are used to receive feedback signals after the millimeter-wave radar signals transmitted by the transmitting antenna are reflected by the target being measured. The intelligent detection unit is used to determine the distance and angle information between the target being measured and the millimeter-wave radar based on the feedback signals received by the millimeter-wave radar installed on the refrigerator door. Based on the distance and angle information between the target being measured and the millimeter-wave radar, the unit controls the refrigerator door to open.

[0121] In one embodiment, the linear frequency modulated pulse signal transmitted by the transmitting antenna of the millimeter-wave radar, upon encountering the target, is reflected to obtain a feedback signal, which is then captured by the receiving antenna. The received signal and the transmitted signal are combined in a mixer to generate a new signal, namely the IF (Intermediate Frequency) signal. The frequency of the IF signal is related to the distance between the target and the millimeter-wave radar, and its phase is the phase difference between the transmitted pulse and the received pulse. Therefore, by further processing and analyzing the IF signal, the distance between the millimeter-wave radar and the target can be obtained.

[0122] Figure 8 This is a schematic diagram illustrating the positional relationship between the door opening device and the refrigerator door according to an embodiment of this application. Figure 8As shown, the refrigerator door is equipped with two millimeter-wave radars (radar 1) and an intelligent detection unit. The two millimeter-wave radars are located on the upper half of the refrigerator door and on the lower half (radar 2). Each millimeter-wave radar includes one transmitting antenna and two receiving antennas (collectively referred to as the transceiver antennas). The millimeter-wave signal generated by the transmitter (TX) is transmitted into space through the transmitting antenna, forming an outward-propagating electromagnetic wave. The receiving antenna then captures the millimeter-wave signal reflected back from the target in space and converts it into a current or voltage signal. The converted signal is then processed by the receiver (RX) through modulation, filtering, and amplification before being sent to the radio frequency (RF) circuit. The transmitted signal generated by the transmitter (TX) and the received signal by the receiver (RX) are combined in the RF circuit to generate an IF signal. This IF signal is then converted into a digital signal by an ADC (Analog-to-Digital Converter) and sent to the intelligent detection unit. The transmitter (TX) serves as the signal source for the millimeter-wave radar.

[0123] The intelligent detection unit is connected to the refrigerator's main control board. It is used to determine the distance and angle information between the target and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door. Based on the distance and angle information between the target and the millimeter-wave radar, it controls the refrigerator door to open.

[0124] The refrigerator's main control board is also connected to the door switch. In response to the door switch's opening command or the opening command sent by the intelligent detection unit, the main control board generates an opening signal and sends it to the electric door opening drive circuit. Based on the received opening signal from the main control board, the electric door opening drive circuit controls the electric door opening mechanism to perform the opening operation. The door switch can generate an opening command in response to a user's opening command via a smart device, control panel, or APP (Application), and then send the command to the main control board.

[0125] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0126] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for opening a door, characterized in that, The method includes: Based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door, the distance and angle information between the target and the millimeter-wave radar are determined. Based on the distance information and angle information between the target and the millimeter-wave radar, the refrigerator door is controlled to open.

2. The door opening method according to claim 1, characterized in that, The method of determining the distance and angle information between the target and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door includes: Based on multiple feedback signals received by the millimeter-wave radar installed on the refrigerator door for the same transmitted signal, the distance information and angle information between the target and the millimeter-wave radar are determined.

3. The door opening method according to claim 2, characterized in that, The determination of the distance information and angle information between the target and the millimeter-wave radar based on multiple feedback signals received by the millimeter-wave radar installed on the refrigerator door for the same transmitted signal includes: Using at least two receiving antennas corresponding to the millimeter-wave radar, multiple feedback signals received by the millimeter-wave radar for the same transmitted signal are acquired. Based on multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, the distance information and angle information between the target and the millimeter-wave radar are determined.

4. The door opening method according to claim 3, characterized in that, The determination of the distance information and angle information between the target and the millimeter-wave radar based on multiple feedback signals received by the millimeter-wave radar for the same transmitted signal includes: Based on the timing information of any feedback signal received by the millimeter-wave radar in response to the transmitted signal, the timing information for determining the distance between the target under test and the millimeter-wave radar is obtained. Based on the timing information of multiple feedback signals received by the millimeter-wave radar for the same transmitted signal, the timing information of the distance difference between the target under test and the millimeter-wave radar is determined. Based on the timing information of the distance difference between the target and the millimeter-wave radar, the timing information of the angle between the target and the millimeter-wave radar is determined.

5. The door opening method according to claim 4, characterized in that, The step of controlling the refrigerator door to open based on the distance information and angle information between the target and the millimeter-wave radar includes: Based on the time-series information of the distance between the target under test and the millimeter-wave radar, the time-series change information of the distance between the target under test and the millimeter-wave radar is determined; Based on the time-series information of the angle between the target under test and the millimeter-wave radar, the time-series change information of the angle between the target under test and the millimeter-wave radar is determined; Based on the temporal change information of the distance between the target and the millimeter-wave radar and the temporal change information of the angle, it is determined whether the temporal change of the position of the target relative to the refrigerator door satisfies the door opening logic. When the temporal change of the position of the target under test relative to the refrigerator door satisfies the door opening logic, the refrigerator door is controlled to open.

6. The door opening method according to claim 5, characterized in that, The determination of whether the temporal change of the position of the target relative to the refrigerator door satisfies the door opening logic based on the temporal change information of the distance and the angle between the target and the millimeter-wave radar includes: Based on the temporal change information of the distance between the target and the millimeter-wave radar, and the temporal change information of the angle, the temporal change of the position of the target relative to the refrigerator door is determined. Based on the temporal change of the position of the target under test relative to the refrigerator door, determine whether the temporal change of the position of the target under test relative to the refrigerator door satisfies the door opening logic.

7. The door opening method according to claim 6, characterized in that, The step of determining whether the temporal change in the position of the target relative to the refrigerator door satisfies the door opening logic based on the temporal change in the position of the target relative to the refrigerator door includes: When the temporal change of the position of the target relative to the refrigerator door is such that the target moves along a plane parallel to the refrigerator door within a preset height range, in a preset direction, and at a preset speed range, it is determined that the temporal change of the target relative to the refrigerator door satisfies the door opening logic; otherwise, it is determined that the temporal change of the target relative to the refrigerator door does not satisfy the door opening logic.

8. The door opening method according to claim 2, characterized in that, The method of determining the distance information and angle information between the target and the millimeter-wave radar based on multiple feedback signals received from the millimeter-wave radar installed on the refrigerator door for the same transmitted signal further includes: Based on a first feedback signal received by at least one millimeter-wave radar installed on the upper half of the refrigerator door in response to the transmitted signal, and a second feedback signal received by at least one millimeter-wave radar installed on the lower half of the refrigerator door in response to the transmitted signal, the distance and angle information between the target and each of the millimeter-wave radars are determined.

9. A door opening device, characterized in that, The device includes: The information determination module is used to determine the distance and angle information between the target being measured and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door. And a door opening control module, used to control the refrigerator door to open based on the distance information and angle information between the target being measured and the millimeter-wave radar.

10. A refrigerator, comprising a refrigerator body and a refrigerator door, and a millimeter-wave radar and an intelligent detection unit located on the refrigerator door, characterized in that, The millimeter-wave radar includes a transmitting antenna and at least two receiving antennas; The transmitting antenna is used to transmit millimeter-wave radar signals to the target being measured; The receiving antenna is used to receive the feedback signal after the millimeter-wave radar signal emitted by the transmitting antenna is reflected by the target under test; The intelligent detection unit is used to determine the distance and angle information between the target being measured and the millimeter-wave radar based on the feedback signal received by the millimeter-wave radar installed on the refrigerator door. Based on the distance information and angle information between the target and the millimeter-wave radar, the refrigerator door is controlled to open.

Images