Door control method and cleaning appliance

Abstract

Embodiments of the present application provide a door control method and a cleaning appliance. The method comprises: in the case that an obstacle is detected by a first detection device, controlling a second detection device to switch to an operating state to perform gesture detection; and in the case that a specific gesture is detected by the second detection device, controlling the door to open. The method is used to reduce the misrecognition probability of the automatic opening function of the door and save the energy consumption of the automatic opening function of the door.

Description

Technical Field

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

[0002] Currently, cleaning appliances with automatic door opening and closing designs on the market often cannot prevent users from accidentally triggering the door to open when passing by. This causes the cleaning appliance to frequently open the door erroneously, which leads to frequent secondary contamination of the appliances placed inside the liner and seriously affects the user experience.

[0003] However, if gesture recognition sensors are used to control the automatic opening and closing of doors, the high energy consumption of these sensors will increase the cost of cleaning equipment. Summary of the Invention

[0004] This application provides a door control method and a cleaning device to reduce the probability of false recognition of the automatic door opening function and save energy consumption of the automatic door opening function.

[0005] In a first aspect, embodiments of this application provide a door control method applied to a cleaning appliance. The door of the cleaning appliance is provided with a first detection device and a second detection device, and the operating power of the first detection device is lower than that of the second detection device.

[0006] When the door is closed, the first detection device is in working condition, and the second detection device is in sleep condition.

[0007] The methods include:

[0008] If the first detection device detects an obstacle, the second detection device is switched to working mode to perform gesture detection.

[0009] The door opens when the second detection device detects a specific gesture.

[0010] In some embodiments, controlling the door to open upon the detection of a specific gesture by the second detection device includes:

[0011] If the second detection device switches to working mode and detects a specific gesture within a first preset time period, the door is opened; otherwise, the second detection device is switched back to sleep mode.

[0012] In some embodiments, the method further includes:

[0013] If the door touches an obstacle while it is in a closed state during the opening process, the door will be reopened.

[0014] During the opening of the door, if the door touches an obstacle and is not in a closed state, the door is controlled to rotate back to a preset angle, and after waiting for a second preset time, the door is controlled to continue opening.

[0015] In some embodiments, controlling the door to open includes:

[0016] After waiting for the third preset time, the control door opens.

[0017] In some embodiments, after the door is reopened, the following steps are also included:

[0018] If the number of times the door is reopened reaches a preset threshold, and / or the number of times the door rotates to a preset angle reaches a preset threshold, an alarm is generated to prompt the user to remove the obstacle.

[0019] In some embodiments, the cleaning appliance also includes a door opening control device disposed on the body of the cleaning appliance, which is used to control the relative rotation of the door to open the door;

[0020] The method also includes:

[0021] During the opening of the door, if the load change rate of the door opening control device reaches the preset change rate threshold per unit time, it is determined that the door has touched an obstacle.

[0022] In some embodiments, the cleaning appliance also includes a notification device disposed on the door;

[0023] The method also includes:

[0024] If the first detection device detects an obstacle, the control prompting device executes a first prompting scheme to prompt the user that the second detection device has switched to working mode, and / or, if the second detection device detects a specific gesture, the control prompting device executes a second prompting scheme during the door opening process to prompt the user that the door is opening.

[0025] In some embodiments, after the control door is opened, the following steps are also included:

[0026] If the door has been successfully opened for a period of time that is four preset durations, the second detection device will be switched to sleep mode.

[0027] In some embodiments, the second detection device and the first detection device are arranged along the height of the door.

[0028] Secondly, this application provides a cleaning appliance, on which a first detection device and a second detection device are provided. The second detection device and the first detection device are arranged along the height of the door, and the operating power of the first detection device is lower than that of the second detection device.

[0029] When the door is closed, the first detection device is in working condition, and the second detection device is in sleep condition.

[0030] The cleaning appliance is used to control the door to open using the method described in any of the above embodiments.

[0031] The door control method and cleaning device provided in this application embodiment keep a first detection device with lower operating power running while keeping a second detection device with higher operating power in sleep mode when the door is closed. The second detection device is switched to working mode to perform gesture detection when the first detection device detects an obstacle. The door is only opened when the second detection device detects a specific gesture. This reduces the continuous running time of the high-power detection device during standby, reduces system standby power consumption, and improves the reliability of user door opening intention recognition by combining obstacle detection and specific gesture detection. This reduces the risk of unexpected opening caused by environmental interference and improves the safety and user experience of the door interaction process. Attached Figure Description

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

[0033] Figure 1 A schematic diagram of the front and side structure of the cleaning appliance provided in this application;

[0034] Figure 2 A schematic diagram of the back and side structure of the cleaning appliance provided in this application;

[0035] Figure 3 A schematic diagram of the opening control device for the cleaning appliance provided in this application;

[0036] Figure 4 A flowchart illustrating the door control method provided in this application;

[0037] Figure 5 A schematic diagram of the door control device provided in this application;

[0038] Figure 6 A schematic diagram of the structure of the electronic device provided in this application.

[0039] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments made by those skilled in the art under the guidance of these embodiments are within the scope of protection of this application.

[0041] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] like Figure 1 , 2 As shown, this application embodiment provides a cleaning appliance 100, which includes a body 110, a door 120 that can be opened and closed connected to the body 110, a first detection device 130, a second detection device 140, and a controller 150.

[0043] The operating power of the first detection device 130 is lower than that of the second detection device 140. When the door 120 is closed, the first detection device 130 is in working state and the second detection device 140 is in dormant state.

[0044] The first detection device 130 and the second detection device 140 are respectively connected to the controller 150. The first detection device 130 is used to collect the first detection signal and send it to the controller 150, and the second detection device 140 is used to collect the second detection signal and send it to the controller 150.

[0045] Cleaning appliance 100 refers to equipment capable of automatically cleaning objects or appliances placed inside the main body 110, such as dishwashers, washing machines, one-piece molded van cleaning devices, etc.

[0046] As an example, in a home kitchen environment, dishwashers are usually installed inside cabinets or under countertops. The door 120, as the main interactive component for users to take and put away tableware, start programs, and close the door, often needs to achieve reliable, convenient, and safe opening and closing operations within a limited space.

[0047] The main body 110 can be a rigid box structure made of high-strength stainless steel or corrosion-resistant composite material. A rectangular opening matching the size of the door 120 can be opened on any side of the main body 110. When the cleaning appliance 100 is a dishwasher, the user can access the appliance through the rectangular opening of the main body 110. The edges of the rectangular opening are typically equipped with flexible sealing strips to ensure a tight seal between the main body 110 and the door 120, preventing moisture and noise leakage.

[0048] The door 120 can be connected to either side of the rectangular opening of the body 110 via a hinge structure, allowing the door 120 to rotate freely within a certain angle. The body 110 can also be connected to the side of the door 120 that is not connected to the body 110 via a door lock device. When the body 110 is connected to the side of the door 120 that is not connected to the body 110, the rectangular opening on the body 110 is closed, and the internal cavity of the body 110 forms a sealed space. When the body 110 is not connected to the side of the door 120 that is not connected to the body 110, the rectangular opening on the body 110 is open, and the user can place or retrieve food in the internal cavity of the body 110 through the open rectangular opening.

[0049] Furthermore, in this embodiment, in order to maintain the neatness and aesthetics of the cleaning appliance 100, the first detection device 130 and the second detection device 140 can be concealed within the structure of the door 120. As an example, the controller 150 can also be concealed within the structure of the door 120, or it can be located on the back of the main body 110.

[0050] like Figure 2 As shown, the second detection device 140 and the first detection device 130 can be set at different heights along the door body 120. In the vertical direction, the first detection device 130 is closer to the ground, while the second detection device 140 is set at a higher position.

[0051] The first detection device 130 in the lower area of ​​the door 120 can first trigger the approach action. When the obstacle is detected to enter the preset distance range, the second detection device 140 in the upper part is then activated to enter the gesture recognition state.

[0052] Because the second detection device 140 is positioned at a higher level, its field of view is more concentrated, which can reduce false recognition caused by table edges, water droplet reflections, and pets crossing the table, and improve the stability of recognizing arm waving, pausing, or specific hand gestures.

[0053] The hierarchical arrangement of the second detection device 140 and the first detection device 130 also gives the two types of detection signals a clear division of labor. The first detection device 130 is responsible for front-end wake-up, and the second detection device 140 is responsible for fine confirmation. This forms a control basis for low power consumption and high precision collaborative work, which effectively expands the detectable space and reduces mutual interference between multiple sensors in the same area, while improving the timeliness of proximity recognition and the accuracy of gesture recognition.

[0054] In one embodiment, the first detection device 130 and the second detection device 140 can be arranged on the same vertical line. Figure 2 In the diagram, both the first detection device 130 and the second detection device 140 are represented by dashed lines to indicate that the first detection device 130 and the second detection device 140 are hidden within the structure of the door body 120.

[0055] In one embodiment, the cleaning appliance 100 may be a cabinet-type dishwasher, the second detection device 140 may be integrated into the edge of the door 120 away from the ground, and the first detection device 130 may be integrated into the edge of the door 120 near the ground.

[0056] In another embodiment, the cleaning appliance 100 can be a trough-type dishwasher. The second detection device 140 can be integrated into the upper edge of the centerline of the door 120, and the first detection device 130 can be integrated into the lower edge of the centerline of the door 120. The detection points (such as infrared emitting / receiving windows or magnetic element areas) of the first detection device 130 and the second detection device 140 are flush with the surface of the door 120 and can be covered by a very small, light-transmitting or non-metallic decorative piece that matches the color of the door 120, thereby ensuring the visual integrity and concealment of the cleaning appliance 100.

[0057] It should be noted that the controller 150 can also be hidden within the structure of the door 120. This embodiment does not restrict the location of the controller 150.

[0058] like Figure 3 As shown, in one embodiment, the cleaning appliance 100 is also provided with a door opening control device 160, which can be disposed between the main body 110 and the door 120.

[0059] As an example, the door opening control device 160 can be an electric push rod. When the rectangular opening of the body 110 is connected to one side of the door body 120 on either side in the width direction, the cylinder part of the electric push rod can be fixed to the structural frame of either side wall in the width direction within the body 110 via a rotating shaft bracket; Figure 3 As shown, when the rectangular opening of the body 110 is connected to one side of the door 120 on any side in the length direction, the cylinder part of the electric push rod can be fixed to the structural frame of any side wall in the length direction inside the body 110 by the rotating shaft bracket.

[0060] The end of the telescopic rod of the electric push rod can be connected to the inner wall of the door 120 through another pivot connector. When the body 110 and the door 120 are closed to form a sealed space, the electric push rod is located inside the sealed space and is not visible from the outside.

[0061] When the door opening control device 160 receives an opening command from the controller 150, it drives the motor of the electric push rod, causing the telescopic rod of the electric push rod to extend forward slowly and uniformly. Since the cylinder part of the electric push rod is fixed to the side wall of the main body 110, the extended telescopic rod will apply a pushing force to the door 120. Furthermore, since one side of the door 120 is connected to the main body 110 through a hinge structure, this pushing force will be converted into a rotational torque around the central axis of the hinge structure, thereby smoothly pushing the door 120 open. In addition, the controller 150 can control the extension distance of the telescopic rod by controlling the number of rotations of the motor, thereby achieving precise control of the opening angle of the door 120.

[0062] Furthermore, when the door opening control device 160 receives the door closing command issued by the controller 150, it drives the motor of the electric push rod to reverse, thereby controlling the telescopic rod to retract. The pulling force of the telescopic rod retracting acts on the connection point of the door body 120, generating a torque that causes the door body 120 to rotate in the opposite direction around the central axis of the hinge structure, thereby smoothly pulling the door body 120 back to the closed position.

[0063] Alternatively, the cleaning appliance 100 may integrate a door closer device between the door 120 and the main body 110, so that the cleaning appliance 100 can automatically open the door 120 through the door opening control device 160. After the door 120 is opened, the controller 150 controls the telescopic rod to retract to the initial state. When it is necessary to close the door 120, the door closer device can automatically close the door 120. With this setting, it can be avoided that the telescopic rod is always in the extended state when the door 120 is in the open state, which affects the aesthetics of the cleaning appliance 100 and prevents the user from retrieving items from the main body 110.

[0064] In one embodiment, the cleaning appliance 100 is also provided with a drying device.

[0065] The drying device is used to rapidly raise the temperature of the cavity inside the main body 110 by using a high-efficiency heat source when it receives a drying command from the controller 150, thereby evaporating the moisture on the surface of the item and expelling the moisture through condensation or forced convection, thereby achieving efficient and energy-saving drying.

[0066] The drying device can be integrated, for example, into the interlayer air duct of the side or rear wall of the main body 110. The drying device includes a heating element and a fan. The heating element has a self-regulating temperature characteristic; when the temperature inside the cavity is too high, its resistance increases sharply, causing the power of the drying device to automatically decrease, thereby preventing the internal temperature of the cavity from becoming too high. The fan can be composed of a high-speed brushless motor and a multi-bladed vortex impeller. The fan can be installed on the air inlet or outlet side of the heating element to draw in humid air from the cavity, flow it through the heated heating element, and then blow the heated dry air back into the cavity. The drying device may also include an air duct circulation system and a dehumidification system. The air duct circulation system is used to evenly blow the heated dry air to every position inside the wall, and the dehumidification system is used to condense the moisture carried in the humid air into water droplets and discharge them outside the main body 110.

[0067] In one embodiment, the cleaning appliance 100 is also provided with a prompting device, which is installed on the door 120 and is used to issue different types of prompts according to different prompting instructions issued by the controller 150.

[0068] As an example, the prompting device can be a voice playback device, which can play corresponding prompting voices when it receives different prompting commands from the controller 150.

[0069] It should be noted that the notification device can also be hidden within the structure of the door 120.

[0070] In one embodiment, a door control method is provided. This embodiment illustrates the application of this door control method to the controller of a cleaning appliance in any of the above embodiments. Figure 4 As shown, the gate control method includes:

[0071] S402. When the first detection device detects an obstacle, the second detection device is controlled to switch to working mode to perform gesture detection.

[0072] Before step S402 is executed, the controller can first enable the first detection device to work and enable the second detection device to sleep when the door is closed, so as to establish a low-power standby detection basis in the scenario where the door is closed.

[0073] In this embodiment, the obstacle is not limited to a physical block. The obstacle can be a target object that enters the effective detection area of ​​the first detection device and causes a change in the sensing signal. The target object can be a user's hand, arm, torso, forearm carrying tableware, or other objects near the surface of the door.

[0074] The first detection device can detect an obstacle by indicating that the distance between the obstacle and the door is less than a preset threshold.

[0075] Gesture detection refers to the process of collecting, analyzing, and recognizing preset actions performed by the user in front of the door after the second detection device is activated. The recognized objects may include waving, lateral movement, brief pause, moving from top to bottom, pushing from outside to inside, or other action trajectories associated with the intention to open the door.

[0076] Specifically, the first detection device performs obstacle detection in real time during operation. When an obstacle is detected, the first detection device can send a trigger signal to the controller.

[0077] After receiving the trigger signal, the controller can start supplying power to the second detection device, or control the second detection device to switch from sleep mode to working mode and start gesture acquisition.

[0078] After the second detection device switches to working mode, it can perform gesture detection within a preset time window, which can be, for example, a time range of 0.5 seconds to 5 seconds.

[0079] S404. If the second detection device detects a specific gesture, the door is opened.

[0080] Specific gestures refer to action patterns that are pre-recorded, configured, or trained and defined by the controller as valid door-opening intentions. Examples include a single horizontal wave, raising the hand from bottom to top, briefly pausing in front of the door before moving away, pushing from the outside in, and trajectories such as the palm moving horizontally within a defined area.

[0081] After detecting a specific gesture, the second detection device can send a trigger signal to the controller, so that the controller issues an opening command to the door opening control device, thereby controlling the door opening control device to drive the motor of the electric push rod, so that the extension rod of the electric push rod begins to extend forward slowly and at a constant speed, so as to smoothly push the door open.

[0082] The aforementioned door control method, by configuring two levels of detection devices with different operating power on the door, enables the first detection device with lower operating power to remain operational while the second detection device with higher operating power remains in sleep mode when the door is closed. The second detection device is then switched to operational mode to perform gesture detection when the first detection device detects an obstacle. The door is only opened when the second detection device detects a specific gesture. This reduces the continuous operating time of the high-power detection device during standby, thereby reducing system standby power consumption. Furthermore, the combined judgment of obstacle detection and specific gesture detection improves the reliability of recognizing the user's intention to open the door, thus reducing the risk of unintended opening due to environmental interference and enhancing the safety and user experience of the door interaction process.

[0083] In an optional embodiment, step 404 includes:

[0084] If the second detection device switches to working mode and detects a specific gesture within a first preset time period, the door is opened; otherwise, the second detection device is switched back to sleep mode.

[0085] The first preset duration is a preset time window during which the second detection device is allowed to continuously identify after switching from sleep mode to working mode. The first preset duration is used to limit the duration of the high power consumption detection process, so that the cleaning appliance can balance identification accuracy and standby power consumption control.

[0086] As an example, after the second detection device switches to the working state, the controller can periodically collect gesture data within a first preset time period and compare the collected image information, distance information or echo information with the preset gesture template. If a specific gesture is matched within the preset time window, an opening command is immediately sent to the door opening control device to drive the door to open. If no valid gesture is recognized within the preset time window, the controller controls the second detection device to automatically return to the sleep state to reduce the power consumption loss caused by the invalid operation of the second detection device.

[0087] In the aforementioned door control method, the controller starts timing after the second detection device enters the working state and continuously detects the user's gestures within a preset time window. When a specific gesture is detected, the controller controls the door opening control device to open the door. If no specific gesture is detected within the preset time window, the controller sends a sleep command to the second detection device, causing it to return to a low-power standby state to maintain the entire machine in an energy-saving operating mode. By adopting this control method, the second detection device participates in gesture recognition only for a limited period of time, effectively avoiding the power consumption increase caused by the high-precision detection unit being in the working state for a long time. At the same time, it reduces the probability of false triggering caused by irrelevant actions in the kitchen environment. Since the door opening action is only executed when the working state and the specific gesture are simultaneously satisfied, it can enhance the reliability of door opening intention recognition and improve the safety and stability of the door control process.

[0088] In an optional embodiment, the method further includes:

[0089] If the door touches an obstacle while it is in a closed state during the opening process, the door will be reopened.

[0090] During the opening of the door, if the door touches an obstacle and is not in a closed state, the door is controlled to rotate back to a preset angle, and after waiting for a second preset time, the door is controlled to continue opening.

[0091] In this embodiment, the door touching an obstacle means that when the door moves under the opening drive, it is detected that the front end, side or part adjacent to the hinge mechanism of the door comes into contact with or is obstructed by an external object. In the kitchen scenario, the obstacle can be the user's hand, tableware, countertop edge, cabinet side panel or other foreign object.

[0092] When the door is in a closed state, it means that the telescopic rod of the electric push rod in the door opening control device is not extended, and the rectangular opening on the door and the body of the cleaning appliance is closed, so that the internal cavity of the appliance forms a sealed space.

[0093] The door is not in a closed state when the telescopic rod of the electric push rod in the door opening control device is extended, and the door and the rectangular opening on the body of the cleaning appliance form a certain angle.

[0094] As an example, the controller can determine whether a touch has occurred based on the changes in current and speed of the motor of the electric push rod in the door opening control device, the sensing signal collected by the additional door angle sensor, or the sensing signal collected by the additional contact sensor on the door.

[0095] When the door is in a closed state and is touched, it means that the door is blocked by an obstacle and cannot move. The controller re-outputs the door opening command, so that the drive mechanism can build up the opening torque again to restore the normal opening trend of the door.

[0096] When the door is already in an open state and contact occurs, the controller first controls the door to rotate back a preset angle, causing it to turn in the direction pointing towards the inner cavity to avoid squeezing contact with the obstacle. The controller then waits for a second preset time, which is set to allow time for the user to remove the obstacle. After waiting for the second preset time, the controller continues to output the opening command, pushing the door to complete the subsequent opening. The preset angle can be set according to the door's weight, hinge structure, and the obstacle's contact position, or it can be a preset default angle.

[0097] The aforementioned door control method, when the door is obstructed from opening, can take differentiated actions based on its current state. This avoids jamming caused by misjudgment when the door is not yet open, reduces collision impact by rotating back when the door is partially open, and continues the opening action after the obstacle is removed. This method improves the continuity and safety of door opening, reduces repeated touches caused by temporary obstruction, user accidental lingering, or environmental interference, and also reduces the load impact and mechanical wear caused by repeated stalling of the drive mechanism, thereby improving the reliability and user experience of cleaning appliance door control.

[0098] In one alternative embodiment, controlling the door to open includes:

[0099] After waiting for the third preset time, the control door opens.

[0100] The third preset time refers to the waiting time between the second detection device detecting a specific gesture and the door actually starting to open. The third preset time could be, for example, 200ms.

[0101] After the second detection device detects a specific gesture, the controller can first enter a waiting state. During the waiting period, the prompting device on the door can continue to issue prompts, such as keeping the light on, flashing, or emitting sound prompts, so that the user knows that the door is about to open and can avoid it in time.

[0102] The third preset duration can be set to a fixed duration, or it can be dynamically adjusted based on factors such as the distance to obstacles in front of the door, the current door angle, and environmental safety information.

[0103] After waiting for a third preset time, the controller sends an opening command to the door opening control device, which in turn controls the motor driving the electric push rod to slowly and evenly extend its extension bar forward, smoothly pushing the door open. This waiting control method allows a buffer time before the door performs the opening action, thereby reducing the risk of immediate opening after accidental triggering and providing reaction time for users and pets to move away from the door.

[0104] The aforementioned door control method, by setting a third preset waiting time before controlling the door to open, can decouple the detection of a specific gesture from the actual execution of the door opening action in time. This allows the controller to not open the door immediately after confirming the user's intention, but to perform the opening action only after the safety confirmation is completed. This can reduce sudden door opening caused by short-term misidentification, improve the predictability of the controller's response for the user, and reduce the probability of the door colliding with people, tableware, or other obstacles.

[0105] In an optional embodiment, after the door is reopened, the following steps are further included:

[0106] If the number of times the door is reopened reaches a preset threshold, and / or the number of times the door rotates to a preset angle reaches a preset threshold, an alarm is generated to prompt the user to remove the obstacle.

[0107] The number of times the door is reopened refers to the number of times the controller re-attempts to reopen the door when the door is in a closed state and attempts to open it, and then encounters an obstacle.

[0108] The number of times the door rotates to the preset angle refers to the number of times the controller first controls the door to rotate to the preset angle and then controls the door to attempt to open again when the door is in an open state and encounters an obstacle.

[0109] In this embodiment, when the door is in an open state, if the door touches an obstacle, the controller will reopen the door, and the number of times the controller reopens the door can be accumulated. Also, when the door is in an open state, if the door touches an obstacle, and the controller continues to open the door, the number of times the controller continues to open the door can be accumulated.

[0110] When the number of times the controller re-opens the door reaches a preset threshold, and / or the number of times the controller continues to open the door reaches a preset threshold, the controller can generate an alarm signal and output it to a prompting device. The prompting device can be, for example, an audible and visual prompting component or a display component, to prompt the user to check whether there is an obstacle in front of the door and remove it.

[0111] Alarm signals can be emitted through a buzzer, flashing indicator lights, voice broadcasts, or on-screen text prompts, allowing users to be promptly informed of the repeated obstruction of the door.

[0112] The aforementioned door control method, by setting a preset threshold number of attempts, enables the door to terminate continuous repetitive actions in a timely manner when it fails to open successfully after multiple attempts. This avoids the actuator being in a high-load working state for a long time, reduces the risk of continuous clamping, collision or damage from obstacles, and improves the safety and reliability of cleaning equipment operation.

[0113] In one optional embodiment, the cleaning appliance further includes a door opening control device disposed on the body of the cleaning appliance, for controlling the relative rotation of the door to open the door;

[0114] Door control methods also include:

[0115] During the opening of the door, if the load change rate of the door opening control device reaches the preset change rate threshold per unit time, it is determined that the door has touched an obstacle.

[0116] In this embodiment, the door opening control device is used to drive the door to rotate relative to the body of the cleaning appliance. The drive motor can be a DC motor or a brushless motor, coupled with a worm gear reducer to increase the output torque, so that the door has a stable driving force during the opening process.

[0117] During the door opening process, the controller can sample the operating status of the door opening control device in real time and calculate the load change rate based on the changes in current, power, torque or speed per unit time.

[0118] As an example, when the door comes into contact with the side wall of a kitchen cabinet, the edge of a countertop, or other external objects during movement, the door's resistance to movement increases significantly within a short period, causing a sudden change in the load on the door opening control device.

[0119] The controller can compare the rate of change with a preset rate of change threshold. When the threshold is reached, the controller outputs the result of the door touching the obstacle and can simultaneously stop the drive or switch to reverse rotation to reduce the mechanical impact caused by the collision.

[0120] The preset rate of change threshold can be calibrated based on the door weight, door hinge damping, drive motor rated torque, and installation environment.

[0121] For load sampling, the controller can continuously acquire multiple sets of data at a fixed sampling period and perform differential operations on adjacent sampling points to suppress transient noise interference and improve the stability of obstacle detection. Since this determination is mainly based on the load changes of the actuator itself, there is no need to add additional complex external detection devices, thus reducing the overall cost and structural complexity while ensuring collision avoidance recognition capabilities.

[0122] In this embodiment, after receiving the door opening command, the door opening control device outputs driving force to rotate the door, and the controller synchronously monitors its operating load. When the door opens freely, the load change is usually relatively gradual; when the door is obstructed, the load change rate will exceed the threshold in a short time. Based on this, the controller confirms that the door has touched an obstacle and takes timely protective control measures to prevent the door from being damaged by continued force.

[0123] The aforementioned door control method can utilize the operating characteristics of the door opening control device itself to achieve door obstacle detection, without relying on additional high-cost sensors, thereby improving the safety and reliability of the door opening process. At the same time, the load change rate determination method has good adaptability to complex kitchen environments, effectively reducing false and false judgments and improving the user experience of cleaning appliances.

[0124] In one alternative embodiment, the cleaning appliance further includes a prompting device disposed on the door;

[0125] Door control methods also include:

[0126] If the first detection device detects an obstacle, the control prompting device executes a first prompting scheme to prompt the user that the second detection device has switched to working mode, and / or, if the second detection device detects a specific gesture, the control prompting device executes a second prompting scheme during the door opening process to prompt the user that the door is opening.

[0127] The prompting device is used to output perceptible interactive information to the user.

[0128] As an example, the prompting device may include a light-emitting component, a sound-emitting component, or a voice broadcasting component. The light-emitting component may be an LED light strip, an indicator light, or a backlight module. The sound-emitting component may be a buzzer. The voice broadcasting component may be a miniature speaker, etc. The embodiments of this application do not limit the specific devices used in the prompting device or the prompting method.

[0129] The first prompting scheme is used to prompt the user to enter the gesture recognition interaction stage. For example, it can remind the user that the second detection device has entered the available state through short flashes, color changes, or intermittent prompt sounds.

[0130] The second prompting scheme is used to notify the user that the door is opening from the beginning to the end of the opening process. For example, it can remind the user to avoid the door by continuously lighting up, using gradient lighting effects, or by giving a voice prompt such as "The door is opening".

[0131] In this solution, after receiving the obstacle signal output by the first detection device, the controller determines that the user is approaching the cleaning appliance and drives the prompting device to output the first prompt scheme. At the same time, it controls the second detection device to switch from the sleep state to the working state. After the second detection device recognizes a specific gesture, the controller further drives the prompting device to output the second prompt scheme while the door is performing the opening movement. This allows the door control and user prompts to form a segmented linkage, so that the user can clearly know whether they are in the gesture confirmation stage or the door opening stage.

[0132] The aforementioned door control method can enhance interactive transparency without increasing the risk of false triggering, allowing users to promptly learn the working status of the second detection device and the door opening process, reducing repetitive operations and misjudgments, while improving the safety and user experience of the door opening action; furthermore, since the prompting device is only triggered during obstacle detection and door opening, its output is synchronized with the door control process, thus avoiding increased energy consumption caused by invalid prompts.

[0133] In one optional embodiment, after the control door is opened, the method further includes:

[0134] If the door has been successfully opened for a period of time that is four preset durations, the second detection device will be switched to sleep mode.

[0135] The fourth preset duration setting can prevent the second detection device from operating in a high-power state for a long time.

[0136] In this embodiment, the controller starts timing after determining that the door is successfully opened. When the accumulated time reaches a fourth preset time, the controller performs sleep control on the second detection device, thereby restoring the second detection device to a low-power standby mode. If the door receives a control signal related to closing, reopening, or safety monitoring again within the fourth preset time, the controller can reactivate the second detection device to ensure continuous monitoring of changes in the door's state.

[0137] The aforementioned door control method, by controlling the second detection device to remain operational only for the necessary time after the door is opened, reduces invalid detections and redundant calculations, thereby lowering the overall standby power consumption. Simultaneously, the short-term monitoring after the door is opened preserves the responsiveness to subsequent user operations, while timely entry into sleep mode after exceeding the fourth preset time helps extend the lifespan of the detection device and improves the energy efficiency and operational stability of the dishwasher door control system.

[0138] It should be understood that although the steps in the flowcharts of the above embodiments 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 above embodiments 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.

[0139] Based on the same inventive concept, this application also provides a door control device for implementing the door control method described above. The solution provided by this door control device is similar to the solution described in the door control method above. Therefore, the specific limitations in one or more device embodiments provided below can be found in the limitations of the door control method described above, and will not be repeated here.

[0140] In one embodiment, such as Figure 5 As shown, a door control device 500 is provided, which is applied to cleaning appliances. The door of the cleaning appliance is provided with a first detection device and a second detection device. The operating power of the first detection device is lower than that of the second detection device.

[0141] When the door is closed, the first detection device is in working condition, and the second detection device is in sleep condition.

[0142] The door control device 500 includes:

[0143] The first control module 502 is used to control the second detection device to switch to working state to perform gesture detection when the first detection device detects an obstacle;

[0144] The second control module 504 is used to control the door to open when the second detection device detects a specific gesture.

[0145] In some optional embodiments, the second control module 504 is further configured to:

[0146] If the second detection device switches to working mode and detects a specific gesture within a first preset time period, the door is opened; otherwise, the second detection device is switched back to sleep mode.

[0147] In some optional embodiments, the second control module 504 is further configured to:

[0148] If the door touches an obstacle while it is in a closed state during the opening process, the door will be reopened.

[0149] During the opening of the door, if the door touches an obstacle and is not in a closed state, the door is controlled to rotate back to a preset angle, and after waiting for a second preset time, the door is controlled to continue opening.

[0150] In some optional embodiments, the second control module 504 is further configured to:

[0151] If the number of times the door is reopened reaches a preset threshold, and / or the number of times the door rotates to a preset angle reaches a preset threshold, an alarm is generated to prompt the user to remove the obstacle.

[0152] In some optional embodiments, the first control module 502 is further configured to:

[0153] During the opening of the door, if the load change rate of the door opening control device reaches the preset change rate threshold per unit time, it is determined that the door has touched an obstacle.

[0154] In some optional embodiments, the second control module 504 is further configured to:

[0155] After waiting for the third preset time, the control door opens.

[0156] In some optional embodiments, the first control module 502 is further configured to:

[0157] When the first detection device detects an obstacle, the control prompting device executes a first prompting scheme to prompt the user that the second detection device has switched to working mode; and / or, the second control module 504 is further configured to:

[0158] When the second detection device detects a specific gesture, the control prompting device executes a second prompting scheme during the door opening process to inform the user that the door is opening.

[0159] In some optional embodiments, the second control module 504 is further configured to:

[0160] If the door has been successfully opened for a period of time that is four preset durations, the second detection device will be switched to sleep mode.

[0161] In some alternative embodiments, the second detection device and the first detection device are arranged along the height of the door.

[0162] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0163] Figure 6 A schematic diagram of the structure of the electronic device provided in this application. Figure 6 As shown, the electronic device 600 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the device 600 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 606.

[0164] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0165] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0166] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0167] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0168] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0169] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0170] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0171] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0172] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0173] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0174] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0175] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0176] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0177] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0178] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A door control method, characterized in that, Applied to cleaning appliances, the door of the cleaning appliance is provided with a first detection device and a second detection device, the operating power of the first detection device is lower than the operating power of the second detection device; When the door is closed, the first detection device is in working condition, and the second detection device is in sleep condition. The method includes: When the first detection device detects an obstacle, the second detection device is controlled to switch to working mode to perform gesture detection; When the second detection device detects a specific gesture, it controls the door to open.

2. The method according to claim 1, characterized in that, The step of controlling the door to open when the second detection device detects a specific gesture includes: If the second detection device switches to working mode and detects a specific gesture within a first preset time period, the door is controlled to open; otherwise, the second detection device is controlled to switch back to sleep mode.

3. The method according to claim 1 or 2, characterized in that, The method further includes: If, during the opening process of the door, the door comes into contact with an obstacle while the door is in a closed state, the door is reopened. During the opening of the door, if the door touches an obstacle and is not in a closed state, the door is controlled to rotate back a preset angle, and after waiting for a second preset time, the door is controlled to continue opening.

4. The method according to claim 3, characterized in that, After the door is reopened, the following steps are also included: If the number of times the door is reopened reaches a preset threshold, and / or the number of times the door rotates to the preset angle reaches the preset threshold, an alarm is generated to prompt the user to remove the obstacle.

5. The method according to claim 3, characterized in that, The cleaning appliance also includes a door opening control device, which is disposed on the body of the cleaning appliance and is used to control the relative rotation of the door to open the door. The method further includes: During the opening of the door, if the load change rate of the door opening control device reaches a preset change rate threshold per unit time, it is determined that the door has touched an obstacle.

6. The method according to claim 1, characterized in that, The control of opening the door includes: After waiting for a third preset time period, the door is opened.

7. The method according to claim 1, characterized in that, The cleaning equipment also includes a reminder device, which is disposed on the door. The method further includes: If the first detection device detects an obstacle, the prompting device is controlled to execute a first prompting scheme to prompt the user that the second detection device has switched to working mode; and / or, if the second detection device detects a specific gesture, the prompting device is controlled to execute a second prompting scheme during the opening of the door to prompt the user that the door is opening.

8. The method according to claim 1, characterized in that, After the door is opened, the control also includes: If the door has been successfully opened for a period of time that is four preset durations, the second detection device is controlled to switch to sleep mode.

9. The method according to claim 1, characterized in that, The second detection device and the first detection device are arranged along the height of the door.

10. A cleaning appliance, characterized in that, The cleaning appliance is provided with a first detection device and a second detection device on the door. The second detection device and the first detection device are arranged along the height of the door. The operating power of the first detection device is lower than that of the second detection device. When the door is closed, the first detection device is in working condition, and the second detection device is in sleep condition. The cleaning appliance is used to control the door to open using the method described in any one of claims 1-9.

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