Door control method and device of kitchen electrical equipment

Abstract

The application provides a door control method and device of a kitchen electrical equipment. The kitchen electrical equipment is provided with a first laser ranging sensor and a second laser ranging sensor. The method comprises the following steps: acquiring first distance data collected by the first laser ranging sensor and second distance data collected by the second laser ranging sensor; if the first distance data and the second distance data are both less than a first threshold value and the first distance data and the second distance data are both greater than or equal to a second threshold value, controlling the kitchen electrical equipment to enter a gesture recognition preparation state; if the first distance data or the second distance data is less than the second threshold value, determining a gesture trajectory of a user based on the first distance data and the second distance data; and controlling the door of the kitchen electrical equipment to perform an automatic door opening operation or an automatic door closing operation based on the gesture trajectory. The method can improve the recognition accuracy, reduce the calculation complexity, response delay and cost, and the sensor will not be mistakenly started due to the lateral movement of the user, thereby improving the experience of the user.

Description

Technical Field

[0001] This invention relates to the field of kitchen appliance technology, and in particular to a method and device for controlling the door of a kitchen appliance. Background Technology

[0002] Currently, most kitchen appliances on the market still use physical buttons or touch screens for contact control, requiring users to manually open and close the doors. When users have flour, oil, or are wearing kitchen gloves, directly touching the control interface can easily soil the equipment and may pose hygiene risks.

[0003] Therefore, in existing technologies, the doors of kitchen appliances can be controlled in a non-contact manner. For example, infrared sensing, ultrasonic ranging, or visual recognition technologies can be used to achieve gesture recognition, and the doors of kitchen appliances can be automatically opened or closed based on the results of gesture recognition.

[0004] However, the aforementioned non-contact control methods suffer from problems such as low recognition accuracy, high computational complexity, large response delay, high cost, and the risk of sensor malfunction due to lateral movement of the user, resulting in a poor user experience. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a door control method and device for kitchen appliances, so as to improve recognition accuracy, reduce computational complexity, response delay and cost, and prevent sensor false activation due to lateral movement of the user, thereby improving the user experience.

[0006] In a first aspect, embodiments of the present invention provide a door control method for a kitchen appliance. The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. The method includes: acquiring first distance data collected by the first laser ranging sensor and second distance data collected by the second laser ranging sensor; if both the first distance data and the second distance data are less than a preset first threshold and both the first distance data and the second distance data are greater than or equal to a preset second threshold, controlling the kitchen appliance to enter a gesture recognition preparation state; if either the first distance data or the second distance data is less than the second threshold, determining the user's gesture trajectory based on the first distance data and the second distance data; wherein the first threshold is greater than the second threshold; and controlling the door of the kitchen appliance to perform an automatic opening operation or an automatic closing operation based on the gesture trajectory.

[0007] In an optional embodiment of this application, the step of determining the user's gesture trajectory based on the first distance data and the second distance data includes: if the trend of the first distance data is first decreasing and then increasing, and the trend of the second distance data is first increasing and then decreasing, the user's gesture trajectory is determined to be a waving motion from top to bottom; if the trend of the first distance data is first increasing and then decreasing, and the trend of the second distance data is first decreasing and then increasing, the user's gesture trajectory is determined to be a waving motion from bottom to top.

[0008] In an optional embodiment of this application, the steps of controlling the door of the kitchen appliance to perform automatic opening or closing operations based on gesture trajectory include: if the gesture trajectory is a waving motion from top to bottom, controlling the door of the kitchen appliance to perform an automatic opening operation; if the gesture trajectory is a waving motion from bottom to top, controlling the door of the kitchen appliance to perform an automatic closing operation.

[0009] In an optional embodiment of this application, the above method further includes: if both the first distance data and the second distance data are less than the second threshold, controlling the door of the kitchen appliance to stop the automatic opening or closing operation.

[0010] In an optional embodiment of this application, after the steps of obtaining the first distance data collected by the first laser ranging sensor and the second distance data collected by the second laser ranging sensor, the method further includes: performing sliding window mean filtering on the first distance data and the second distance data.

[0011] In optional embodiments of this application, the above method further includes: determining the completion time of the gesture trajectory based on the first distance data and the second distance data; and controlling the door of the kitchen appliance to perform an automatic opening or closing operation based on the gesture trajectory and the completion time.

[0012] In an optional embodiment of this application, the kitchen appliance is further provided with an infrared proximity sensor, and the method includes: acquiring infrared distance data collected by the infrared proximity sensor; and determining whether the kitchen appliance has a sensor malfunction based on the first distance data, the second distance data, and the infrared distance data.

[0013] In an optional embodiment of this application, the step of determining whether a sensor malfunction has occurred in the kitchen appliance based on the first distance data, the second distance data, and the infrared distance data includes: if the infrared distance data is greater than or equal to a first threshold, the first distance data is greater than or equal to the infrared distance data, and the second distance data is less than the first threshold, determining that the first laser ranging sensor and / or the second laser ranging sensor are malfunctioning; if the infrared distance data is greater than or equal to the first threshold, the second distance data is greater than or equal to the infrared distance data, and the first distance data is less than the first threshold, determining that the first laser ranging sensor and / or the second laser ranging sensor are malfunctioning.

[0014] In an optional embodiment of this application, the kitchen appliance is equipped with more than two laser rangefinders, and the method further includes: determining the user's gesture trajectory based on the distance data collected by the multiple laser rangefinders; wherein the user's gesture trajectory includes: clockwise rotation and counterclockwise rotation.

[0015] Secondly, embodiments of the present invention also provide a door control device for a kitchen appliance. The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. The device includes: a laser ranging sensor acquisition module for acquiring first distance data acquired by the first laser ranging sensor and second distance data acquired by the second laser ranging sensor; a gesture recognition preparation module for controlling the kitchen appliance to enter a gesture recognition preparation state if both the first distance data and the second distance data are less than a preset first threshold and both the first distance data and the second distance data are greater than or equal to a preset second threshold; a gesture trajectory recognition module for determining the user's gesture trajectory based on the first distance data and the second distance data if either the first distance data or the second distance data is less than the second threshold; wherein the first threshold is greater than the second threshold; and a kitchen appliance door control module for controlling the door of the kitchen appliance to perform automatic opening or automatic closing operations based on the gesture trajectory.

[0016] The embodiments of the present invention bring the following beneficial effects: This invention provides a method and apparatus for controlling the door of a kitchen appliance. The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. The method acquires first distance data collected by the first laser ranging sensor and second distance data collected by the second laser ranging sensor. If both the first and second distance data are less than a preset first threshold and both are greater than or equal to a preset second threshold, the kitchen appliance is controlled to enter a gesture recognition preparation state. If either the first or second distance data is less than the second threshold, the user's gesture trajectory is determined based on the first and second distance data, wherein the first threshold is greater than the second threshold. Based on the gesture trajectory, the door of the kitchen appliance is controlled to perform an automatic opening or closing operation. This method, by determining the user's gesture trajectory through distance data collected by the vertically distributed first and second laser ranging sensors, has an anti-accidental touch effect, improving the reliability and effectiveness of gesture recognition. Setting dual distance thresholds (first and second thresholds) to distinguish between proximity detection and gesture triggering reduces the probability of false triggering while ensuring recognition accuracy.

[0017] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0018] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

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

[0020] Figure 1 A flowchart of a door control method for kitchen appliances provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a kitchen appliance provided in an embodiment of the present invention; Figure 3 A flowchart of another door control method for kitchen appliances provided in an embodiment of the present invention; Figure 4 A schematic diagram illustrating a method for recognizing a user's gesture trajectory based on first distance data and second distance data, provided as an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a door control device for a kitchen appliance provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0021] Icons: 1-First laser rangefinder sensor; 2-Second laser rangefinder sensor; 3-Door body; 4-Motor drive assembly; 5-Display screen; 51-Laser rangefinder sensor acquisition module; 52-Gesture recognition preparation module; 53-Gesture trajectory recognition module; 54-Kitchen appliance door control module; 100-Memory; 101-Processor; 102-Bus; 103-Communication interface. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Currently, existing technologies allow for non-contact control of kitchen appliance doors. For example, infrared sensing, ultrasonic ranging, or visual recognition technologies can be used to achieve gesture recognition, and the kitchen appliance door can be automatically opened or closed based on the gesture recognition results.

[0024] However, the above-mentioned non-contact control methods have the following drawbacks: (1) Infrared sensing technology has a low cost, but it is easily affected by ambient light and has low recognition accuracy.

[0025] (2) Ultrasonic ranging may be affected by temperature fluctuations and airflow in the kitchen environment, resulting in unstable ranging accuracy.

[0026] (3) Although the gesture control scheme based on camera vision recognition can recognize more complex gestures, it has problems such as high computational complexity, large response delay, privacy concerns and high cost.

[0027] (4) Users may accidentally activate the sensor when moving laterally in the kitchen environment.

[0028] Based on this, the present invention provides a door control method and device for kitchen appliances, specifically providing an intelligent gesture door control method for kitchen appliances based on a laser rangefinder sensor. This method can perform high-precision and high-reliability gesture recognition, accurately distinguishing different waving directions; it can achieve fast-response gesture recognition, reducing user waiting time and improving user experience; and it can also enhance stability and adaptability in complex kitchen environments (steam, temperature changes, light interference).

[0029] To facilitate understanding of this embodiment, a door control method for kitchen appliances disclosed in this embodiment of the invention will be described in detail first.

[0030] Example 1: This invention provides a method for controlling the door of a kitchen appliance. The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. In this embodiment, the first and second laser ranging sensors can be placed on the front panel of the kitchen appliance, arranged vertically. This embodiment can identify the user's gesture trajectory by detecting the movement pattern of the user's gestures in front of the first and second laser ranging sensors, and control the opening, closing, and stopping of the kitchen appliance door. The kitchen appliance in this embodiment can be a steam oven, a microwave-steam-grill combination appliance, etc.

[0031] Based on the above description, see Figure 1 The flowchart shown illustrates a door control method for a kitchen appliance, which includes the following steps: Step S102: Obtain the first distance data collected by the first laser ranging sensor and the second distance data collected by the second laser ranging sensor.

[0032] In this embodiment, data from the first laser ranging sensor and data from the second laser ranging sensor can be collected respectively, and used as the first distance data and the second distance data respectively.

[0033] Step S104: If both the first distance data and the second distance data are less than a preset first threshold and both the first distance data and the second distance data are greater than or equal to a preset second threshold, control the kitchen appliance to enter the gesture recognition preparation state.

[0034] In this embodiment, the proximity detection stage can be entered: the user is determined to be close to the kitchen appliance by the first threshold and the second threshold. If so, the kitchen appliance is controlled to enter the gesture recognition preparation state.

[0035] For example, the first threshold can be set to 1m, and the second threshold can be set to 0.2m. When both the first and second distance data are within the range of [0.2m, 1m), it can be considered that the user is approaching the kitchen appliance, and the kitchen appliance is put into the gesture recognition preparation state.

[0036] Step S106: If the first distance data or the second distance data is less than the second threshold, determine the user's gesture trajectory based on the first distance data and the second distance data; wherein the first threshold is greater than the second threshold.

[0037] After the kitchen appliance enters the gesture recognition preparation state, this embodiment can enter the gesture recognition stage: when one of the first distance data or the second distance data is less than the second threshold and the other is greater than or equal to the second threshold, the user's gesture trajectory can be tracked based on the first distance data and the second data.

[0038] In some embodiments, if the trend of change of the first distance data is first decreasing and then increasing, and the trend of change of the second distance data is first increasing and then decreasing, the user's gesture trajectory is determined to be a waving motion from top to bottom; if the trend of change of the first distance data is first increasing and then decreasing, and the trend of change of the second distance data is first decreasing and then increasing, the user's gesture trajectory is determined to be a waving motion from bottom to top.

[0039] If the trend of the first distance data is first decreasing and then increasing, it can be considered that the first distance data collected shows a change pattern of "from long to short, and then from short to long"; if the trend of the second distance data is first increasing and then decreasing, it can be considered that the second distance data collected shows a change pattern of "from short to long, and then from long to short". At this time, it can be determined that the user has performed a waving action from top to bottom, which can trigger the corresponding door control operation.

[0040] If the trend of the first distance data is first increasing and then decreasing, it can be considered that the first distance data collected shows a change pattern of "from short to long, and then from long to short". If the trend of the second distance data is first decreasing and then increasing, it can be considered that the second distance data collected shows a change pattern of "from long to short, and then from short to long". At this time, it can be determined that the user has performed a waving action from bottom to top, which can trigger the corresponding door control operation.

[0041] Step S108: Based on the gesture trajectory, control the door of the kitchen appliance to perform automatic opening or closing operations.

[0042] In this embodiment, the door of the kitchen appliance can be controlled to perform door control operations corresponding to the gesture trajectory determined in the aforementioned steps, such as automatic door opening or automatic door closing.

[0043] In some embodiments, if the gesture trajectory is a downward waving motion, the door of the kitchen appliance is controlled to automatically open; if the gesture trajectory is an upward waving motion, the door of the kitchen appliance is controlled to automatically close.

[0044] In this embodiment, the door of the kitchen appliance can be controlled to perform automatic opening or closing operations based on the determined waving motion from top to bottom or from bottom to top.

[0045] It should be noted that different waving gestures can correspond to different door control operations, and this embodiment does not limit the specific correspondence. For example, a waving gesture from top to bottom can correspond to an automatic door opening operation, and a waving gesture from bottom to top can correspond to an automatic door closing operation. Alternatively, a waving gesture from top to bottom can correspond to an automatic door closing operation, and a waving gesture from bottom to top can correspond to an automatic door opening operation.

[0046] Therefore, in this embodiment, by analyzing the timing and pattern of the changes in the first and second distance data collected by the first and second laser ranging sensors, the user's waving direction can be accurately identified, effectively avoiding false triggering, while maintaining high reliability in complex kitchen environments.

[0047] This invention provides a door control method for a kitchen appliance. The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. The method acquires first distance data collected by the first laser ranging sensor and second distance data collected by the second laser ranging sensor. If both the first and second distance data are less than a preset first threshold and both are greater than or equal to a preset second threshold, the kitchen appliance is controlled to enter a gesture recognition preparation state. If either the first or second distance data is less than the second threshold, the user's gesture trajectory is determined based on the first and second distance data, wherein the first threshold is greater than the second threshold. Based on the gesture trajectory, the door of the kitchen appliance is controlled to perform an automatic opening or closing operation. This method, by determining the user's gesture trajectory through distance data collected by the vertically distributed first and second laser ranging sensors, has an anti-accidental touch effect, improving the reliability and effectiveness of gesture recognition. Setting dual distance thresholds (first and second thresholds) to distinguish between proximity detection and gesture triggering reduces the probability of false triggering while ensuring recognition accuracy.

[0048] Example 2: This embodiment provides another method for controlling the door of a kitchen appliance. This method is implemented based on the above embodiment, focusing on the specific methods of door control and sensor fault detection. (See also...) Figure 2 The diagram shown is a structural schematic of a kitchen appliance. Figure 2 The diagram shows a first laser rangefinder 1, a second laser rangefinder 2, a door 3, a motor drive assembly 4, and a display screen 5.

[0049] like Figure 2 As shown, the kitchen appliance can be equipped with a first laser rangefinder sensor 1 and a second laser rangefinder sensor 2, with a center-to-center distance of 5 cm. The first and second laser rangefinder sensors 1 and 2 can use the Time-of-Flight (ToF) principle for distance measurement, achieving millimeter-level accuracy and millisecond-level response speed. The detection range of the first and second laser rangefinder sensors 1 and 2 can cover 0.1-1.5 m, ensuring accurate capture of user gestures.

[0050] In this embodiment, the first laser range finder 1 and the second laser range finder 2 can be installed facing the user operation direction at a small downward angle (about 5-10 degrees) to optimize the gesture detection area. The surfaces of the first laser range finder 1 and the second laser range finder 2 are coated with a high-temperature resistant and steam-proof coating to enhance stability and adaptability in the complex kitchen environment (steam, temperature changes, light interference).

[0051] Based on the above description, refer to Figure 3 the flowchart of another method for controlling the door body of a kitchen appliance shown in Step S302: Obtain the first distance data collected by the first laser range finder and the second distance data collected by the second laser range finder.

[0052] In some embodiments, the first distance data and the second distance data can also be processed by sliding window mean filtering.

[0053] In this embodiment, the first distance data and the second distance data can be filtered and smoothed to eliminate environmental noise interference. Among them, the stability of the first distance data and the second distance data can be ensured through sliding window mean filtering.

[0054] Step S304: If both the first distance data and the second distance data are less than a preset first threshold and both the first distance data and the second distance data are greater than or equal to a preset second threshold, control the kitchen appliance to enter the gesture recognition preparation state.

[0055] In this embodiment, the change sequences of the first distance data and the second distance data can be analyzed to identify specific gesture patterns, and the state machine model can be used to track the gesture process to accurately judge the start, progress, and end states of the gesture.

[0056] Refer to Figure 4 the schematic diagram of identifying the gesture trajectory of the user based on the first distance data and the second distance data shown in

[0057] As Figure 4 shown, it can be judged that X0≤X1<X3 and X0≤X2<X3. If so, the kitchen appliance can be controlled to enter the gesture recognition preparation state.

[0058] This embodiment is illustrated by taking X3 = 1m and X0 = 0.2m as an example, and will not be elaborated hereafter. If 0.2m ≤ X1 < 1m and 0.2m ≤ X2 < 1m, it can be considered that the user wants to approach the kitchen appliance to control the door body by tidying up, and at this time, the kitchen appliance can be controlled to enter the gesture recognition preparation state.

[0059] If X1 ≥ 1m and X2 ≥ 1m, it can be considered that there is no user approaching the kitchen appliance, and the kitchen appliance does not need to be controlled to enter the gesture recognition preparation state. At this time, the kitchen appliance can be in the low-power standby mode. If X1 < 0.2m and X2 < 0.2m, it can be considered that the user is too close to the kitchen appliance, and the gesture recognition preparation state can be entered after the user moves slightly away from the kitchen appliance (that is, when 0.2m ≤ X1 < 1m and 0.2m ≤ X2 < 1m).

[0060] In some embodiments, the infrared distance data collected by the infrared proximity sensor can also be obtained; based on the first distance data, the second distance data, and the infrared distance data, it is determined whether the kitchen appliance has a sensor failure.

[0061] In this embodiment, the infrared distance data collected by the infrared proximity sensor can be used to assist in sensor recognition to determine whether the kitchen appliance has a sensor failure. Using an infrared proximity sensor for preliminary human approach detection is more accurate than a laser range finder sensor. A laser range finder sensor can be used for more precise gesture recognition when detecting the gesture trajectory subsequently.

[0062] In some embodiments, if the infrared distance data is greater than or equal to the first threshold, the first distance data is greater than or equal to the infrared distance data, and the second distance data is less than the first threshold, it is determined that the first laser range finder sensor and / or the second laser range finder sensor has a failure; if the infrared distance data is greater than or equal to the first threshold, the second distance data is greater than or equal to the infrared distance data, and the first distance data is less than the first threshold, it is determined that the first laser range finder sensor and / or the second laser range finder sensor has a failure.

[0063] As Figure 4 shown, as Figure 4 shown, the infrared distance data is X4. When X4 ≥ X3, it is successively determined whether X1 ≥ X4 and X0 ≤ X2 < X3, and whether X2 ≥ X4 and X0 ≤ X1 < X3. If X1 ≥ X4 and X0 ≤ X2 < X3, or X2 ≥ X4 and X0 ≤ X1 < X3, it can be considered that there is a large error in the distance data collected by the first laser range finder sensor and the second laser range finder sensor at the same time, and it can be determined that at least one of the first laser range finder sensor and the second laser range finder sensor has a failure.

[0064] For example, when X4 = 1.2m which is greater than 1m, if X1 ≥ 1.2 and 0.2m ≤ X2 < 1m, or X2 ≥ 1.2 and 0.2m ≤ X1 < 1m, it can be determined that at least one of the first laser distance measurement sensor and the second laser distance measurement sensor has a fault.

[0065] Step S306, if the first distance data or the second distance data is less than the second threshold, determine the gesture trajectory of the user based on the first distance data and the second distance data; wherein, the first threshold is greater than the second threshold.

[0066] As Figure 4 shown, in this embodiment, it can be determined whether X1 < X0 or X2 < X0. If so, gesture tracking can be performed, and it is successively determined whether the gesture trajectory is a door closing gesture and whether the gesture trajectory is a door opening gesture.

[0067] For example, if the gesture trajectory is a waving motion from top to bottom, it is determined as a door opening gesture, and subsequently, the door body of the kitchen electric appliance can be controlled to perform an automatic door opening operation; if the gesture trajectory is a waving motion from bottom to top, it is determined as a door closing gesture, and subsequently, the door body of the kitchen electric appliance can be controlled to perform an automatic door closing operation.

[0068] In some embodiments, the completion time of the gesture trajectory can also be determined based on the first distance data and the second distance data; and the door body of the kitchen electric appliance is controlled to perform an automatic door opening operation or an automatic door closing operation based on the gesture trajectory and the completion time.

[0069] In this embodiment, the completion time of the gesture trajectory can also be determined based on the first distance data and the second distance data, and the door body of the kitchen electric appliance is jointly controlled to perform an automatic door opening operation or an automatic door closing operation according to the gesture trajectory and the completion time of the gesture trajectory.

[0070] For example, if the gesture trajectory of the user is a waving motion from bottom to top, and the completion time of the waving motion from bottom to top is greater than 5 seconds, the door body of the kitchen electric appliance can be controlled to perform an automatic door closing operation. If the gesture trajectory of the user is a waving motion from top to bottom, and the completion time of the waving motion from top to bottom is greater than 5 seconds, the door body of the kitchen electric appliance can be controlled to perform an automatic door opening operation.

[0071] In some embodiments, the kitchen electric appliance can also be provided with more than 2 laser distance measurement sensors; the gesture trajectory of the user is determined based on the distance data collected by the multiple laser distance measurement sensors; wherein, the gesture trajectory of the user includes: clockwise rotation and counterclockwise rotation.

[0072] For example, in this embodiment, 4 laser distance sensors can be arranged on the front panel of the kitchen electrical appliance in a 2×2 matrix form, and the sensor spacing remains 5 cm. By analyzing the data change sequence and spatial pattern of the 4 laser distance sensors, more complex gesture trajectories, such as clockwise rotation and counterclockwise rotation, can be recognized, and more functions of the kitchen electrical appliance can be controlled.

[0073] Step S308, based on the gesture trajectory, control the door body of the kitchen electrical appliance to perform an automatic door opening operation or an automatic door closing operation.

[0074] Such as Figure 2 As shown, in this embodiment, the motor drive assembly 4 can be driven to perform an automatic door opening operation or an automatic door closing operation on the door body, and the PID (Proportional-Integral-Derivative) control algorithm can be used to ensure the smooth and accurate movement of the door body.

[0075] Such as Figure 4 As shown, if the gesture trajectory is a door closing gesture, the door body can be controlled to perform an automatic door closing operation; if the gesture trajectory is a door opening gesture, the door body can be controlled to perform an automatic door opening operation.

[0076] Step S310, if both the first distance data and the second distance data are less than the second threshold, control the door body of the kitchen electrical appliance to stop the automatic door opening operation or the automatic door closing operation.

[0077] In this embodiment, an interruption control stage can also be entered: when both the first distance data and the second distance data are simultaneously less than the second threshold, it can be determined that the user wishes to stop the current movement of the door body. At this time, the driving motor can be immediately controlled to stop the automatic door opening operation or the automatic door closing operation, and the door body can be kept at the current position.

[0078] Such as Figure 2 As shown, in this embodiment, the motor drive assembly 4 can also be driven to stop the automatic door opening operation or the automatic door closing operation on the door body. At this time, the user can be prompted through the display screen 5 to continue to perform the automatic door opening operation or the automatic door closing operation.

[0079] Such as Figure 4 As shown, in this embodiment, it can also be determined that X1 < X0 and X2 < X0. If so, the ongoing automatic door opening operation or automatic door closing operation can be stopped, and the user can be prompted through the display screen to continue to perform the automatic door opening operation or the automatic door closing operation.

[0080] In summary, the method provided by the embodiments of the present invention provides a collaborative working mode of dual laser rangefinders: by using a first laser rangefinder and a second laser rangefinder distributed vertically to detect first distance data and second distance data respectively, the waving direction of the user's gesture trajectory is identified based on the temporal relationship between the changes in the first distance data and the second distance data, which has the effect of preventing accidental touches and can improve the reliability and effectiveness of gesture recognition.

[0081] In summary, the method provided in the embodiments of the present invention also provides a multi-segment detection strategy based on distance thresholds: by setting dual distance thresholds of a first threshold and a second threshold, proximity detection and gesture triggering can be distinguished, which can reduce the probability of false triggering and ensure recognition accuracy.

[0082] Example 3: Corresponding to the above method embodiments, this invention provides a door control device for a kitchen appliance. The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. (See also...) Figure 5 The diagram shows a structural schematic of a door control device for a kitchen appliance. The door control device includes: The laser ranging sensor acquisition module 51 is used to acquire first distance data acquired by the first laser ranging sensor and second distance data acquired by the second laser ranging sensor. The gesture recognition preparation module 52 is used to control the kitchen appliance to enter the gesture recognition preparation state if both the first distance data and the second distance data are less than a preset first threshold and both the first distance data and the second distance data are greater than or equal to a preset second threshold. The gesture trajectory recognition module 53 is used to determine the user's gesture trajectory based on the first distance data and the second distance data if the first distance data or the second distance data is less than the second threshold; wherein the first threshold is greater than the second threshold. The kitchen appliance door control module 54 is used to control the kitchen appliance door to perform automatic opening or closing operations based on gesture trajectory.

[0083] This invention provides a door control device for a kitchen appliance. The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. The device acquires first distance data collected by the first laser ranging sensor and second distance data collected by the second laser ranging sensor. If both the first and second distance data are less than a preset first threshold and both are greater than or equal to a preset second threshold, the kitchen appliance is controlled to enter a gesture recognition preparation state. If either the first or second distance data is less than the second threshold, the user's gesture trajectory is determined based on the first and second distance data, wherein the first threshold is greater than the second threshold. Based on the gesture trajectory, the door of the kitchen appliance is controlled to perform an automatic opening or closing operation. This method, by determining the user's gesture trajectory through distance data collected by the vertically distributed first and second laser ranging sensors, has an anti-accidental touch effect, improving the reliability and effectiveness of gesture recognition. Setting dual distance thresholds (first and second thresholds) to distinguish between proximity detection and gesture triggering reduces the probability of false triggering while ensuring recognition accuracy.

[0084] The aforementioned gesture trajectory recognition module is used to determine that the user's gesture trajectory is a downward waving motion if the trend of the first distance data is first decreasing and then increasing, and the trend of the second distance data is first increasing and then decreasing; and to determine that the user's gesture trajectory is a downward waving motion if the trend of the first distance data is first increasing and then decreasing, and the trend of the second distance data is first decreasing and then increasing.

[0085] The aforementioned kitchen appliance door control module is used to control the kitchen appliance door to automatically open if the gesture trajectory is a waving motion from top to bottom, and to control the kitchen appliance door to automatically close if the gesture trajectory is a waving motion from bottom to top.

[0086] The aforementioned kitchen appliance door control module is also used to control the kitchen appliance door to stop automatically opening or closing if both the first distance data and the second distance data are less than the second threshold.

[0087] The aforementioned device further includes: a distance data preprocessing module, used to perform sliding window mean filtering on the first distance data and the second distance data.

[0088] The aforementioned kitchen appliance door control module is also used to determine the completion time of the gesture trajectory based on the first distance data and the second distance data; and to control the kitchen appliance door to perform automatic opening or automatic closing operations based on the gesture trajectory and the completion time.

[0089] The aforementioned device also includes: a sensor fault detection module, used to acquire infrared distance data collected by an infrared proximity sensor; and to determine whether the kitchen appliance has a sensor fault based on the first distance data, the second distance data, and the infrared distance data.

[0090] The aforementioned sensor fault detection module is used to determine that the first laser ranging sensor and / or the second laser ranging sensor are faulty if the infrared distance data is greater than or equal to a first threshold, the first distance data is greater than or equal to the infrared distance data and the second distance data is less than the first threshold; and to determine that the first laser ranging sensor and / or the second laser ranging sensor are faulty if the infrared distance data is greater than or equal to the first threshold, the second distance data is greater than or equal to the infrared distance data and the first distance data is less than the first threshold.

[0091] The aforementioned kitchen appliance is equipped with more than two laser rangefinders. The aforementioned gesture trajectory recognition module is also used to determine the user's gesture trajectory based on the distance data collected by the multiple laser rangefinders. The user's gesture trajectory includes clockwise rotation and counterclockwise rotation.

[0092] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the door control device of the kitchen appliance described above can be referred to the corresponding process in the aforementioned embodiments of the door control method of the kitchen appliance, and will not be repeated here.

[0093] Example 4: This invention also provides an electronic device for operating the door control method of the aforementioned kitchen appliance; see [link to related documentation]. Figure 6 The diagram shows the structure of an electronic device, which includes a memory 100 and a processor 101. The memory 100 stores one or more computer instructions, which are executed by the processor 101 to implement the door control method of the kitchen appliance described above.

[0094] Furthermore, Figure 6 The electronic device shown also includes a bus 102 and a communication interface 103, with the processor 101, the communication interface 103 and the memory 100 connected via the bus 102.

[0095] The memory 100 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 102 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0096] Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by instructions in software form. Processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 100, and processor 101 reads information from memory 100 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0097] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are called and executed by a processor, they cause the processor to implement the aforementioned door control method for kitchen appliances. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0098] The computer program product of the kitchen appliance door control method and device provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and / or device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0100] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0101] 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.

[0102] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0103] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the door of a kitchen appliance, characterized in that, The kitchen appliance is equipped with a first laser rangefinder and a second laser rangefinder, with the first laser rangefinder positioned above the second laser rangefinder. The method includes: Acquire the first distance data collected by the first laser rangefinder and the second distance data collected by the second laser rangefinder; If both the first distance data and the second distance data are less than a preset first threshold and both the first distance data and the second distance data are greater than or equal to a preset second threshold, the kitchen appliance is controlled to enter the gesture recognition preparation state. If either the first distance data or the second distance data is less than the second threshold, the user's gesture trajectory is determined based on the first distance data and the second distance data; wherein the first threshold is greater than the second threshold; The kitchen appliance door is controlled to perform automatic opening or closing operations based on the gesture trajectory.

2. The method according to claim 1, characterized in that, The step of determining the user's gesture trajectory based on the first distance data and the second distance data includes: If the trend of the first distance data is first decreasing and then increasing, and the trend of the second distance data is first increasing and then decreasing, then the user's gesture trajectory is determined to be a waving motion from top to bottom. If the trend of the first distance data is first increasing and then decreasing, and the trend of the second distance data is first decreasing and then increasing, then the user's gesture trajectory is determined to be a waving motion from bottom to top.

3. The method according to claim 2, characterized in that, The steps of controlling the door of the kitchen appliance to perform automatic opening or closing operations based on the gesture trajectory include: If the gesture trajectory is a waving motion from top to bottom, control the door of the kitchen appliance to perform an automatic opening operation; If the gesture trajectory is a waving motion from bottom to top, the door of the kitchen appliance is controlled to perform an automatic closing operation.

4. The method according to claim 1, characterized in that, The method further includes: If both the first distance data and the second distance data are less than the second threshold, the door of the kitchen appliance is controlled to stop the automatic opening operation or the automatic closing operation.

5. The method according to any one of claims 1-4, characterized in that, After acquiring the first distance data collected by the first laser rangefinder and the second distance data collected by the second laser rangefinder, the method further includes: The first distance data and the second distance data are subjected to sliding window mean filtering.

6. The method according to any one of claims 1-4, characterized in that, The method further includes: The completion time of the gesture trajectory is determined based on the first distance data and the second distance data; Based on the gesture trajectory and the completion time, the door of the kitchen appliance is controlled to perform automatic opening or closing operations.

7. The method according to any one of claims 1-4, characterized in that, The kitchen appliance is also equipped with an infrared proximity sensor, and the method includes: Acquire the infrared distance data collected by the infrared proximity sensor; Based on the first distance data, the second distance data, and the infrared distance data, it is determined whether the kitchen appliance has a sensor malfunction.

8. The method according to claim 7, characterized in that, The step of determining whether the kitchen appliance has a sensor malfunction based on the first distance data, the second distance data, and the infrared distance data includes: If the infrared distance data is greater than or equal to the first threshold, the first distance data is greater than or equal to the infrared distance data, and the second distance data is less than the first threshold, it is determined that the first laser ranging sensor and / or the second laser ranging sensor are faulty; If the infrared distance data is greater than or equal to the first threshold, the second distance data is greater than or equal to the infrared distance data, and the first distance data is less than the first threshold, it is determined that the first laser ranging sensor and / or the second laser ranging sensor are faulty.

9. The method according to any one of claims 1-4, characterized in that, The kitchen appliance is equipped with more than two laser rangefinders, and the method further includes: The user's gesture trajectory is determined based on distance data collected by multiple laser rangefinders; wherein the user's gesture trajectory includes clockwise rotation and counterclockwise rotation.

10. A door control device for a kitchen appliance, characterized in that, The kitchen appliance is equipped with a first laser ranging sensor and a second laser ranging sensor, with the first laser ranging sensor positioned above the second laser ranging sensor. The device includes: A laser ranging sensor acquisition module is used to acquire first distance data acquired by the first laser ranging sensor and second distance data acquired by the second laser ranging sensor; The gesture recognition preparation module is used to control the kitchen appliance to enter the gesture recognition preparation state if both the first distance data and the second distance data are less than a preset first threshold and both the first distance data and the second distance data are greater than or equal to a preset second threshold. A gesture trajectory recognition module is used to determine the user's gesture trajectory based on the first distance data and the second distance data if either the first distance data or the second distance data is less than the second threshold; wherein the first threshold is greater than the second threshold; The kitchen appliance door control module is used to control the door of the kitchen appliance to perform automatic opening or closing operations based on the gesture trajectory.

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