Refrigerator freezer door control method and apparatus, electronic apparatus, and storage medium

Abstract

A refrigerator freezer door control method and apparatus, an electronic apparatus, and a storage medium. The refrigerator freezer door control method comprises: detecting whether a refrigerator freezer door is pulled open; if not, controlling a freezer push rod motor to rotate in reverse for a first duration at a first duty cycle, so that a push rod enters a first retracted buffer state; secondly determining whether the refrigerator freezer door is pulled open; if yes, controlling the freezer push rod motor to rotate in reverse for a second duration at a second duty cycle, so that the push rod remains in a stop motion state; thirdly determining whether the refrigerator freezer door is in a closed state; and if yes, controlling the freezer push rod motor to rotate in reverse.

Description

Refrigerator freezer door control method, device, electronic device and storage medium

[0001] Related Applications

[0002] The present application claims priority to Chinese Patent Application No. 202411023635.3, filed on July 29, 2024, entitled “Anti-pinch hand refrigerator automatic door opening and closing control method and anti-pinch hand refrigerator” and Chinese Patent Application No. 202411023501.1, filed on July 29, 2024, entitled “Refrigerator freezer door control method, device, electronic device and storage medium”, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0003] The present application relates to the field of refrigerators, in particular to a refrigerator freezer door control method, device, electronic device and storage medium. BACKGROUND

[0004] At present, with the rapid development of smart home appliances, more and more smart home appliances have entered the market, and more and more users have experienced the convenient lifestyle brought by smart home appliances. Related embedded refrigerators basically adopt handle-free or hidden handle design for aesthetics. However, when manually closing the refrigerator door or closing the door of a refrigerator with a self-opening door system, the pulling force of the hinge or guide rail is relatively large during the complete return of the push rod to ensure that the door is closed without cold air leakage. At this time, if the user's hand is placed on the hidden handle, there is a risk of pinching the hand or even injury. Currently, to prevent pinching, the main methods are through soft strip design: installing a soft strip at the gap of the refrigerator door to reduce the risk of injury. The soft strip is usually made of soft materials such as rubber or silicone, which can provide cushioning and protection when the door is closed. Alternatively, through warning signs and instructions: warning signs and instructions can be marked near the refrigerator door to remind users to be aware of the risk of injury and use the refrigerator correctly. Alternatively, user education: providing correct usage education and guidance to users to help them understand how to properly open and close the refrigerator door to avoid the risk of pinching the hand. Related technologies are through physical protection or education methods, which require users to actively learn, improve their self-prevention awareness to avoid being pinched by the refrigerator door, and reduce the risk of injury, but cannot actively avoid the user's hand being pinched through the refrigerator's own control system. SUMMARY

[0005] According to various embodiments of the present application, a refrigerator freezer door control method, device, electronic device, storage medium, anti-pinch hand refrigerator automatic door opening and closing control method, and anti-pinch hand refrigerator are provided.

[0006] In a first aspect, a refrigerator freezer door control method is provided in the present embodiment, comprising:

[0007] In the case that the refrigerator freezer door is pushed open by the push rod, detecting whether the refrigerator freezer door is pulled open by the door magnetic switch;

[0008] If not, controlling the freezer push rod motor to reverse at a preset first duty ratio for a preset first time length, so that the push rod enters a first retraction buffer state;

[0009] Secondly judging whether the refrigerator freezer door is pulled open by the door magnetic switch;

[0010] If yes, controlling the freezer push rod motor to reverse at a preset second duty ratio for a preset second time length, so that the push rod remains in a stop motion state;

[0011] Thirdly judging whether the refrigerator freezer door is in a closed state by the door magnetic switch;

[0012] If yes, controlling the freezer push rod motor to reverse at a duty ratio of 100% for 1 second, so that the refrigerator freezer door is closed; wherein the preset first duty ratio is greater than the preset second duty ratio, and the preset first time length is less than the preset second time length.

[0013] In some embodiments, the refrigerator freezer door is pushed open by the push rod, comprising:

[0014] Detecting the pressure on the refrigerator freezer door by the freezer pressing sensor, and if the pressure is greater than a preset pressure threshold, controlling the freezer push rod motor to run forward at a duty ratio of 100% for a preset time, so as to drive the push rod to move and push open the refrigerator freezer door.

[0015] In some embodiments, the distance driven by the push rod by the freezer push rod motor is less than the self-locking point distance of the freezer guide rail spring.

[0016] In some embodiments, the refrigerator freezer door is detected by the door magnetic switch to be not pulled open, and the freezer push rod motor is controlled to reverse at a preset third duty ratio for a preset third time length, so that the push rod enters a second retraction buffer state and closes the refrigerator freezer door; wherein the preset third duty ratio is greater than the preset first duty ratio, the preset third time length is less than the preset second time length, and the retraction speed of the push rod in the second retraction buffer state is greater than the retraction speed in the first retraction buffer state.

[0017] In some embodiments, before controlling the freezer push rod motor to reverse at a preset second duty ratio for a preset second time length, further comprising:

[0018] The freezing push rod motor is controlled to reverse at a preset second duty ratio for a preset fourth duration, then the freezing push rod motor is controlled to reverse at a preset fourth duty ratio for a preset fifth duration, and then the freezing push rod motor is controlled to reverse at a preset second duty ratio for a preset second duration; wherein the freezing push rod motor reverses at the preset fourth duty ratio to increase the resistance of the push rod, the preset fourth duty ratio is smaller than the preset second duty ratio, and the preset fifth duration is smaller than the preset first duration.

[0019] In some embodiments, whether the refrigerator freezing door is in a closed state is determined three times by the door magnetic switch.

[0020] If not, the second duration is decremented to 0, and the push rod is retracted.

[0021] In some embodiments, when the refrigerator fresh-keeping door is opened, the freezing push rod motor of the refrigerator freezing door is in a failure state.

[0022] In a second aspect, a refrigerator freezing door control device is provided in the embodiment, comprising: a reminding module, a first control module and a second control module, wherein:

[0023] The reminding module is configured to detect, by the door magnetic switch, whether the refrigerator freezing door is pulled open when the refrigerator freezing door is pushed open by the push rod; if not, the freezing push rod motor is controlled to reverse at a preset first duty ratio for a preset first duration, so that the push rod enters a first retraction buffer state.

[0024] The first control module is configured to determine, by the door magnetic switch, whether the refrigerator freezing door is pulled open twice; if so, the freezing push rod motor is controlled to reverse at a preset second duty ratio for a preset second duration, so that the push rod remains in a stopped motion state.

[0025] The second control module is configured to determine, by the door magnetic switch, whether the refrigerator freezing door is in a closed state three times; if so, the freezing push rod motor is controlled to reverse at a duty ratio of 100% for 1 second, so that the refrigerator freezing door is closed; wherein the preset first duty ratio is greater than the preset second duty ratio, and the preset first duration is smaller than the preset second duration.

[0026] In a third aspect, an electronic device is provided in the embodiment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to realize the refrigerator freezing door control method of the first aspect.

[0027] In a fourth aspect, a storage medium is provided in the embodiment, having a computer program stored thereon, which is executed by a processor to realize the refrigerator freezing door control method of the first aspect.

[0028] In a fifth aspect, an automatic door opening and closing control method for a hand-trapping prevention refrigerator is provided in the embodiments of the present application. The refrigerator includes a cabinet, at least one cabinet door, and at least one pressure sensor, which is arranged on the cabinet and configured to detect a pressing signal of a user. The method includes:

[0029] controlling the cabinet door to open to a first position by a first angle when the pressing signal is detected;

[0030] controlling the cabinet door to move back to the first position after reciprocating in a range of a second angle at least once when the cabinet door reaches a first preset time at the first position; the second angle is smaller than the first angle;

[0031] controlling the cabinet door to rotate to the cabinet direction until it is closed when the cabinet door reaches a second preset time at the first position.

[0032] In one of the embodiments, the step of controlling the cabinet door to move back to the first position after reciprocating in a range of a second angle at least once includes:

[0033] sending a first driving signal to control the cabinet door to close to a second position by a second angle in the direction away from the cabinet;

[0034] sending a second driving signal to control the cabinet door to open to the first position by a second angle in the direction away from the cabinet when the cabinet door reaches a third preset time at the second position.

[0035] In one of the embodiments, the method further includes:

[0036] generating the first driving signal with a duty cycle of n%, where n is less than 100;

[0037] generating the second driving signal with a duty cycle of m%, where m is less than or equal to 100.

[0038] In one of the embodiments, the refrigerator includes a refrigeration door and a freezing door, and the method further includes:

[0039] detecting the pressing signal in one of the refrigeration door and the freezing door, and determining whether the opening condition is met, and if yes, controlling the door to open to a first position by a first angle.

[0040] In one of the embodiments, the refrigerator further includes a first door magnetic sensor and a second door magnetic sensor, and the method further includes:

[0041] When one of the refrigeration door and the freezing door detects the pressing signal, the other state is detected by the first door magnetic sensor or the second door magnetic sensor; if in the closed state, it is judged that the door detecting the pressing signal meets the door opening condition, and the door is controlled to open to the first position by a first angle; otherwise, it does not meet the door opening condition.

[0042] In a sixth aspect, the present application also provides a hand anti-pinch refrigerator, comprising a cabinet, at least one cabinet door, at least one pressure sensor and a controller, the pressure sensor is correspondingly arranged on the cabinet and used for detecting a pressing signal of a user,

[0043] The controller is used for controlling the cabinet door to open to a first position by a first angle when the pressing signal is detected, controlling the cabinet door to reciprocate in a second angle range at least once and then return to the first position when the cabinet door reaches a first preset time at the first position; the second angle is smaller than the first angle; and controlling the cabinet door to rotate to the cabinet direction until it is closed when the cabinet door reaches a second preset time at the first position.

[0044] In one embodiment, the at least one cabinet door comprises a refrigeration door and a freezing door, and the controller is further used for judging whether the door opening condition is met when one of the refrigeration door and the freezing door detects the pressing signal, and controlling the door to open to the first position by the first angle if the door opening condition is met.

[0045] In one embodiment, the refrigerator further comprises a first door magnetic sensor and a second door magnetic sensor; the first door magnetic sensor is used for detecting the opening and closing state of the refrigeration door, and the second door magnetic sensor is used for detecting the opening and closing state of the freezing door.

[0046] The controller is further used for detecting the state of the other door by the first door magnetic sensor or the second door magnetic sensor when one of the refrigeration door and the freezing door detects the pressing signal; if in the closed state, it is judged that the door opening condition is met; otherwise, it is not met.

[0047] In one embodiment, the refrigerator further comprises a hinge assembly, and the cabinet door and the cabinet are connected through the hinge assembly.

[0048] In one embodiment, the refrigerator further comprises a push rod motor, which is used for receiving a driving signal sent by the controller to drive the opening and closing of the cabinet door.

[0049] The details of one or more embodiments of the present application are presented in the following drawings and description. Other features, objects and advantages of the present application will become apparent from the description, drawings and claims. BRIEF DESCRIPTION OF DRAWINGS

[0050] For a better understanding of the embodiments and / or examples of the inventions disclosed herein, reference can be made to one or more of the accompanying drawings. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the presently described embodiments and / or examples, and the best mode presently contemplated of these inventions.

[0051] FIG. 1 is a hardware structure block diagram of a terminal of a refrigerator freezing door control method according to an embodiment.

[0052] FIG. 2 is a flowchart of a refrigerator freezing door control method according to an embodiment.

[0053] FIG. 3 is a system structure diagram of a refrigerator freezing door control method according to an embodiment.

[0054] FIG. 4 is a flowchart of another refrigerator freezing door control method according to an embodiment.

[0055] FIG. 5 is a structure block diagram of a refrigerator freezing door control apparatus according to an embodiment.

[0056] FIG. 6 is a structure diagram of a hand-trap preventing refrigerator according to an embodiment.

[0057] FIG. 7 is a structure diagram of a hand-trap preventing refrigerator according to an embodiment.

[0058] FIG. 8 is a flowchart of an automatic door opening and closing control method of a hand-trap preventing refrigerator according to an embodiment.

[0059] FIG. 9 is a flowchart of a step 702 of controlling the reciprocating movement of the door within a range of a second angle at least once and then returning to the first position according to an embodiment. DETAILED DESCRIPTION

[0060] For a better understanding of the purposes, technical solutions and advantages of the present application, the present application is described and explained below in conjunction with the drawings and embodiments.

[0061] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the same meaning as those commonly understood by a person of ordinary skill in the art to which the present application belongs. The terms "one", "a", "an", "the", "these", and similar terms in the present application do not mean "only one" or "exactly one", but can mean "one or more". The terms "include", "contain", "have", and any variant thereof in the present application are intended to cover the non-exclusive inclusion; for example, a process, method, and system, product or device containing a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method, product or device. The terms "connect", "connect", "couple" and the like in the present application are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. The term "multiple" in the present application means two or more. The term "and / or" describes the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. In general, the character " / " represents the relationship between the objects before and after it as "or". The terms "first", "second", "third" and the like in the present application are only used to distinguish similar objects, and do not represent a specific order of the objects.

[0062] The method embodiments provided in the present embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Fig. 1 is a hardware structure block diagram of the terminal of the refrigerator freezing door control method of the present embodiment. As shown in Fig. 1, the terminal can include one or more (only one is shown in Fig. 1) processor 102 and memory 104 for storing data, wherein the processor 102 can include but not limited to processing device such as microprocessor MCU or programmable logic device FPGA. The above terminal can also include transmission equipment 106 for communication function and input and output equipment 108. Those skilled in the art can understand that the structure shown in Fig. 1 is only schematic, which does not limit the structure of the above terminal. For example, the terminal can include more or less components than those shown in Fig. 1, or have a different configuration from that shown in Fig. 1.

[0063] The memory 104 can be used to store computer programs, such as software programs of application software and modules, such as the computer program corresponding to the refrigerator freezer door control method in the embodiment. The processor 102 can execute various functional applications and data processing, i.e., implement the method described above, by running the computer program stored in the memory 104. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include memories remotely arranged with respect to the processor 102, which can be connected to the terminal through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0064] The transmission device 106 is configured to receive or send data via a network. The network includes a wireless network provided by a communication provider of the terminal. In an example, the transmission device 106 includes a network adapter (NIC), which can be connected to other network devices through a base station to communicate with the Internet. In an example, the transmission device 106 can be a radio frequency (RF) module, which is configured to communicate with the Internet in a wireless manner.

[0065] In the embodiment, a refrigerator freezer door control method is provided. FIG. 2 is a flowchart of the refrigerator freezer door control method in the embodiment. As shown in FIG. 2, the flow includes the following steps:

[0066] In step S201, in the case that the refrigerator freezer door is pushed open by the push rod, whether the refrigerator freezer door is pulled open is detected by a door magnetic switch. If not, a freezer push rod motor is controlled to reverse at a preset first duty ratio for a preset first time length, so that the push rod enters a first retraction buffer state.

[0067] Specifically, in the embodiment, Fig. 3 is a schematic diagram of the system structure of the refrigerator freezing door control method of the embodiment. As shown in Fig. 3, the entire system comprises a refrigerator freezing door 31, a freezing rail assembly 32, a pressing sensor 33, a control panel (not shown in the figure), a freezing push rod motor 34 and a door magnetic switch 35. The refrigerator freezing door 31 is used to isolate the freezing chamber from the external environment, so as to keep the freezing chamber warm, and is also the receptor of pressing; the freezing rail assembly 32 comprises a rail and a spring. Within the self-locking range of the rail spring, the rail spring pulls the refrigerator freezing door towards the cabinet through the elastic force of the rail spring, so as to close the refrigerator freezing door; the pressing sensor 33 is used to convert the pressure of the human palm or other parts on the freezing door into a signal. When the signal reaches a certain threshold, an impulse signal is output to the control panel, so as to realize the pressing door opening; the control panel is used to receive the signal and issue corresponding instructions to the door body and the freezing push rod motor, so as to control the operation of opening and closing the door; the freezing push rod motor 34 is used to provide the opening power for the refrigerator freezing door, and in the embodiment, the closing speed can also be controlled; the door magnetic switch 35 is used to detect the current state of the door body, i.e., whether the door is opened or closed.

[0068] In the case that the refrigerator freezing door is pushed open by the push rod, the door magnetic switch is used for detection, to detect whether there is a user operation to pull open the door. If there is no user operation to continue the opening action, it is judged that the door does not need to be opened at this time, and the door needs to be closed. The control panel sends a first duty ratio to the freezing push rod motor to reverse the set time, so that the push rod enters a first retraction buffer state. The first duty ratio is set according to the rail pulling force and the push rod motor locking force, mainly to ensure that the freezing push rod motor can drive the push rod to retract when the first duty ratio is used, so that the refrigerator freezing door retracts to a certain extent. For example, when the rail spring pulling force is 20N per rail, i.e., 40N for two rails, considering the consistency of the push rod, the retraction duty ratio of the motor is 10%, and the stop is 6%. At this time, the first duty ratio of the freezing push rod motor is controlled to be 15%, and the freezing push rod motor drives the push rod to move at a 15% duty ratio for 0.8 seconds, so that the refrigerator freezing door is quickly retracted to a small extent for the first time to remind the user of the closing action, preventing the user from being pinched by the door when opening it. For example, when the rail spring pulling force is 25N per rail, i.e., 50N for two rails, considering the consistency of the push rod, the retraction duty ratio of the motor is 8%, and the stop is 4%. At this time, the first duty ratio of the freezing push rod motor is controlled to be 12%, and the freezing push rod motor drives the push rod to move at a 15% duty ratio for 0.8 seconds, so that the refrigerator freezing door is quickly retracted to a small extent. The first retraction buffer state is the quick small-amplitude retraction movement of the refrigerator freezing door.

[0069] In step S202, the door magnetic switch is used to judge whether the refrigerator freezing door is pulled open again; if yes, the freezing push rod motor is controlled to reverse at a preset second duty ratio for a preset second time length, so that the push rod remains in a stopped state.

[0070] Specifically, after reversing the push rod by the freezing push rod motor at the first duty ratio, the door magnetic switch is used for secondary judgment to determine whether the user has an action of opening the door, and if the freezing refrigerator door is detected to be pulled open, the freezing refrigerator door will be separated from the freezing guide rail self-locking point. In order to prevent the user from being pinched by forceful closing of the door at this time, the freezing push rod motor is controlled by the control panel to reverse for a preset second time length at a preset second duty ratio. Specifically, the push rod remains in a static state under the driving of the freezing push rod motor at the second duty ratio. The specific second duty ratio is determined according to the guide rail tension and the motor locking force, so that the push rod can be kept from moving under this driving. For example, when the guide rail spring tension is 20 N per guide rail, that is, 40 N for two guide rails, considering the consistency of the push rod, the motor retraction duty ratio is 10%, and the stop is 6%. At this time, the second duty ratio of the freezing push rod motor is controlled to be 6%, and the freezing push rod motor drives the push rod to move for 180 seconds at a duty ratio of 6% to make the push rod retract slowly. The specific second time length can also be set according to the actual situation, which is not specifically limited in the embodiment. For another example, when the guide rail spring tension is 25 N per guide rail, that is, 50 N for two guide rails, considering the consistency of the push rod, the motor retraction duty ratio is 8%, and the stop is 4%. At this time, the second duty ratio of the freezing push rod motor is controlled to be 4%, and the freezing push rod motor drives the push rod to move for 180 seconds at a duty ratio of 4%. In this way, the push rod remains in a static state when the refrigerator freezing door is pulled open, waiting for the closing of the refrigerator freezing door, to prevent the user from being pinched by closing the door during this period.

[0071] In step S203, the door magnetic switch is used for third judgment to determine whether the refrigerator freezing door is in a closed state. If yes, the freezing push rod motor is controlled to reverse for 1 second at a duty ratio of 100% to make the refrigerator freezing door close. The preset first duty ratio is greater than the preset second duty ratio, and the preset first time length is less than the preset second time length.

[0072] Specifically, in the process of retracting the push rod under the driving of the freezing push rod motor at the second duty ratio, the door magnetic switch is used for continuous judgment to determine whether the refrigerator freezing door is in a closed state. If the closed state is detected during this process, the freezing push rod motor is controlled to reverse for 1 second at a duty ratio of 100% to make the push rod retract. At this time, the freezing push rod motor pulls back the push rod at the maximum driving force to make the resistance of the push rod minimum, and the refrigerator freezing door is quickly closed under the action of the guide rail spring tension to prevent the cold air from leaking due to the freezing refrigerator door not being tightly closed. During this process, the first duty ratio is set to be greater than the second duty ratio to achieve the effect of quickly and slightly retracting the refrigerator freezing door and to achieve the effect of first reminding the user to close the door. The second duty ratio is set to be just enough to drive the push rod to keep from moving according to the consistency of the push rod to keep the push rod from moving and to prevent the user from being pinched by forceful closing of the door during this process. The first time length is set to be an extremely short time length to mainly achieve the effect of quickly and slightly retracting the refrigerator freezing door, and the second time length is set to be a relatively long time length to wait for the closing of the refrigerator freezing door.

[0073] Through the steps S201 to S203, in the case that the refrigerator freezer door is pushed open by the push rod, whether the refrigerator freezer door is pulled open is detected by the door magnetic switch; if not, the freezer push rod motor is controlled to reverse at a preset first duty ratio for a preset first time length, so that the push rod enters the first retraction buffer state; whether the refrigerator freezer door is pulled open is judged again by the door magnetic switch; if yes, the freezer push rod motor is controlled to reverse at a preset second duty ratio for a preset second time length, so that the push rod remains in the stop motion state; whether the refrigerator freezer door is in the closed state is judged for the third time by the door magnetic switch; if yes, the freezer push rod motor is controlled to reverse at a duty ratio of 100% for 1 second, so that the refrigerator freezer door is closed; wherein the preset first duty ratio is greater than the preset second duty ratio, and the preset first time length is less than the preset second time length. Compared with the physical protection or education method in the related art, in the case that the push rod pushes open the refrigerator freezer door but the user does not open the door, within the self-locking range of the guide rail spring, the freezer push rod motor is controlled to reverse at the first duty ratio for the preset first time length, reminding the user to close the door, preventing the user from being pinched by the door at this time; then whether there is an opening action is detected by the door magnetic switch, if the refrigerator freezer door is pulled open at this time, the door body is away from the self-locking range of the guide rail spring, the freezer push rod motor is controlled to reverse at the second duty ratio for the second time length, and the push rod is controlled to remain stationary during the second time length, preventing the user from being pinched when closing the door at this time; finally, when the door action is detected, the freezer push rod motor is controlled to reverse at a duty ratio of 100% for 1 second, ensuring that the refrigerator freezer door is completely closed. Thus, the problem of active anti-pinch of the refrigerator freezer door is solved.

[0074] In some embodiments, the refrigerator freezer door is pushed open by the push rod, including: detecting the pressure on the refrigerator freezer door by the freezer pressing sensor, if the pressure is greater than a preset pressure threshold, the freezer push rod motor is controlled to run forward at a duty ratio of 100% for a preset time, to drive the push rod to move and push open the refrigerator freezer door. Wherein the distance driven by the push rod through the freezer push rod motor is less than the self-locking point distance of the freezer guide rail spring.

[0075] Specifically, the freezing pressing sensor detects whether the freezing door of the refrigerator is pressed by a hand or other parts. After receiving the hand pressing the door, the freezing pressure sensor converts the pressure into a pulse signal and sends it to the control panel. The control panel determines whether the pulse signal corresponding to the pressure is greater than the preset pressure threshold. The preset pressure threshold is the pressure value that meets the opening door. This value can be set according to the actual situation, and this embodiment does not make specific limitations. When the pressure reaches the preset pressure threshold, the control panel controls the freezing push rod motor to run forward at 100% duty ratio, quickly pushes out the push rod, and pushes open the refrigerator freezing door. The distance of the push rod is less than the self-locking point distance of the freezing rail spring, so as to prevent the refrigerator freezing door from being unable to enter the self-locking point range of the freezing rail spring when the door is closed, and the spring tension cannot pull the refrigerator freezing door to close.

[0076] In another embodiment, the refrigerator freezing door is detected by the door magnetic switch to be not pulled open, the freezing push rod motor is controlled to reverse at a preset third duty ratio for a preset third time length, so that the push rod enters a second retraction buffer state, and the refrigerator freezing door is closed. The preset third duty ratio is greater than the preset first duty ratio, the preset third time length is less than the preset second time length, and the retraction speed of the push rod in the second retraction buffer state is greater than the retraction speed in the first retraction buffer state.

[0077] Specifically, after the user is reminded by controlling the freezing push rod motor to drive the push rod at the first duty ratio, the door magnetic switch continues to detect, and it is detected that the refrigerator freezing door is still in the state of being pulled open. The freezing push rod motor is controlled to drive the push rod to retract. At this time, the freezing push rod motor is controlled to reverse at a preset third duty ratio. Since the second detection still does not have the action of opening the door, it is judged that there is no need to open the door and close the refrigerator freezing door. At this time, it is still necessary to prevent the hand from being pinched, so the third duty ratio is controlled to be slightly faster than the speed at the first reminder and slower than 100%. For example, the freezing push rod motor is controlled to reverse at 20% duty ratio for 4s. Since the refrigerator freezing door is already within the self-locking point distance of the freezing rail spring at this time, the third time length of 4s is sufficient to close the refrigerator freezing door. The third time can also be set according to the actual situation, and this embodiment does not make specific limitations. The second retraction buffer state is the state of the push rod retracting at 20% duty ratio of the freezing push rod motor. Since the third duty ratio is greater than the first duty ratio, the retraction speed of the push rod in the second retraction buffer state is faster than the speed in the first retraction buffer state. In terms of time length, since there is no need to wait for the user to close the door, the third time length can be set to be shorter than the second time length.

[0078] In one of the embodiments, before the control of the freezing push rod motor to reverse at the preset second duty ratio for the preset second time length, further comprising: after the control of the freezing push rod motor to reverse at the preset fourth duty ratio for the preset fourth time length, the control of the freezing push rod motor to reverse at the preset fourth duty ratio for the preset fifth time length, and the control of the freezing push rod motor to reverse at the preset second duty ratio for the preset second time length; wherein the freezing push rod motor reverses at the preset fourth duty ratio to increase the resistance of the push rod, the preset fourth duty ratio is less than the preset second duty ratio, and the preset fifth time length is less than the preset first time length.

[0079] Specifically, in actual situations, due to the poor consistency of the freezing push rod motor, the self-locking force floats between 40N and 74N, and in the setting, through experimental data, most of the push rods remain stationary when the freezing push rod motor is driven at a 10% duty ratio, but some of them will retract. In order to ensure that all the push rods remain stationary when the freezing push rod motor reverses at the second duty ratio, when the door magnetic switch detects the second time that the door body is pulled open, the control of the freezing push rod motor to reverse at the preset second duty ratio for the preset fourth time length, which is generally set to 1 second when the freezing push rod motor reverses at a 10% duty ratio, and then the control of the freezing push rod motor to reverse at a preset fourth duty ratio of 6% for 0.3 seconds. When the freezing push rod motor reverses at a 6% duty ratio, the push rod will not retract. By increasing the 6% duty ratio of the reverse, the resistance of the push rod is increased, and then the control of the freezing push rod motor to reverse at the preset second duty ratio of 10% can ensure that the push rod remains stationary during the process, further preventing the hand from being pinched due to the user's forceful closing of the door during the process.

[0080] In another embodiment, the refrigerator freezing door is determined to be in a closed state by the door magnetic switch three times.

[0081] If not, the preset second time length is decremented to 0, and the push rod is retracted.

[0082] Specifically, after the refrigerator freezing door is pulled open by the door magnetic switch twice, the duty ratio of the freezing push rod motor is controlled to reverse to keep the push rod stationary for a preset second time length, which is set to 180 seconds in this embodiment. During the period when the push rod remains stationary, the door magnetic switch is detected three times, and if the door state is still not detected, the freezing push rod motor is controlled to reverse at a 100% duty ratio after the push rod remains stationary for 180 seconds, so that the push rod is retracted.

[0083] In one of the embodiments, when the refrigerator fresh-keeping door is opened, the freezing push rod motor of the refrigerator freezing door is in a failure state.

[0084] Specifically, when it is detected by the pressing sensor that the freezer door needs to be opened, the current state of the refrigerator fresh-keeping door is first detected by the control panel. If the current refrigerator fresh-keeping door is in an open state, the freezer push rod motor of the refrigerator freezer door is controlled to be in a failure state, and the freezer push rod motor is prohibited from running to open the refrigerator freezer door, so as to prevent the refrigerator freezer door from being opened while the refrigerator fresh-keeping door is closed, causing cross and injuring the user's hand.

[0085] In the embodiment, a refrigerator freezer door control method is also provided. FIG. 4 is a flowchart of another refrigerator freezer door control method of the embodiment. As shown in FIG. 4, the flowchart comprises the following steps:

[0086] In step S401, the pressure received by the refrigerator freezer door is detected by the freezer pressing sensor. If the pressure is greater than a preset pressure threshold, the freezer push rod motor is controlled to run forward at 100% duty ratio for a preset time, so as to drive the push rod to move and push open the refrigerator freezer door.

[0087] In step S402, it is judged whether the refrigerator freezer door is pulled open. If yes, step S405 is executed, otherwise, step S403 is executed.

[0088] In step S403, the freezer push rod motor is controlled to reverse at a preset first duty ratio for a preset first time length, so as to make the push rod enter a first retraction buffer state.

[0089] In step S404, it is judged again whether the refrigerator freezer door is pulled open. If yes, step S405 is executed, otherwise, step S408 is executed.

[0090] In step S405, the freezer push rod motor is controlled to reverse at a preset second duty ratio for a preset second time length, so as to make the push rod keep a stop moving state.

[0091] In step S406, it is judged whether the refrigerator freezer door is in a door closing state. If yes, step S407 is executed, otherwise, step S409 is executed.

[0092] In step S407, the freezer push rod motor is controlled to reverse at 100% duty ratio for 1 second, so as to close the refrigerator freezer door.

[0093] In step S408, the freezer push rod motor is controlled to reverse at a preset third duty ratio for a preset third time length, so as to make the push rod enter a second retraction buffer state and close the refrigerator freezer door.

[0094] In step S409, when the preset second time length decreases to 0, the freezer push rod motor is controlled to reverse at 100% duty ratio to retract the push rod.

[0095] Through the steps S401 to S409, when the push rod pushes open the refrigerator freezer door but the user does not open the door, the refrigerator freezer door is in the self-locking range of the guide rail spring, the freezer push rod motor is controlled to reverse once at the first duty ratio, reminding the user to close the door, so as to prevent the user from being pinched during this period; then, it is continuously detected whether there is an opening action, if the refrigerator freezer door is pulled open and away from the self-locking range of the guide rail spring, the freezer push rod motor is controlled to reverse for a second time length at the second duty ratio, during the second time length, the push rod is kept stationary, which can prevent the user from being pinched when closing the door with great force. The problem that the refrigerator freezer door cannot actively prevent pinching is solved.

[0096] In the embodiment, a refrigerator freezer door control device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. The terms "module", "unit", "sub-unit" and the like used below can be a combination of software and / or hardware that can implement a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware or a combination of software and hardware is also possible and is contemplated.

[0097] Fig. 5 is a structural block diagram of the refrigerator freezer door control device of the embodiment, as shown in Fig. 5, the device 70 comprises a reminding module 71, a first control module 72 and a second control module 73, wherein:

[0098] The reminding module 71 is used to detect whether the refrigerator freezer door is pulled open through the door magnetic switch in the case that the refrigerator freezer door is pushed open by the push rod; if not, the freezer push rod motor is controlled to reverse for a preset first time length at a preset first duty ratio, so that the push rod enters a first retraction buffer state;

[0099] The first control module 72 is used to judge whether the refrigerator freezer door is pulled open through the door magnetic switch twice, if yes, the freezer push rod motor is controlled to reverse for a preset second time length at a preset second duty ratio, so that the push rod keeps a stop moving state;

[0100] The second control module 73 is used to judge whether the refrigerator freezer door is in a closing state through the door magnetic switch three times; if yes, the freezer push rod motor is controlled to reverse for 1 second at a duty ratio of 100%, so that the refrigerator freezer door is closed; wherein the preset first duty ratio is greater than the preset second duty ratio, and the preset first time length is less than the preset second time length.

[0101] It should be noted that each of the above modules can be a functional module or a program module, which can be implemented by software or hardware. For the modules implemented by hardware, each of the above modules can be located in the same processor; or each of the above modules can also be located in different processors in any combination.

[0102] In the embodiment, an electronic device is also provided, comprising a memory and a processor, the memory storing a computer program, and the processor is configured to execute the computer program to perform the steps in any of the above method embodiments.

[0103] Optionally, the electronic device described above can further comprise a transmission device connected with the processor and an input and output device connected with the processor.

[0104] Optionally, in the embodiment, the processor can be configured to perform the following steps through the computer program:

[0105] S1, in the case that the freezer door is pushed open by the push rod, detecting whether the freezer door is pulled open through the door magnetic switch; if not, controlling the freezer push rod motor to reverse at a preset first duty ratio for a preset first time length, so that the push rod enters a first retraction buffer state;

[0106] S2, judging whether the freezer door is pulled open through the door magnetic switch again; if yes, controlling the freezer push rod motor to reverse at a preset second duty ratio for a preset second time length, so that the push rod remains in a stop motion state;

[0107] S3, judging whether the freezer door is in a closed state through the door magnetic switch for the third time; if yes, controlling the freezer push rod motor to reverse at a duty ratio of 100% for 1 second, so that the freezer door is closed; wherein the preset first duty ratio is greater than the preset second duty ratio, and the preset first time length is less than the preset second time length.

[0108] It should be noted that the specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners, which will not be described herein again.

[0109] In addition, in combination with the refrigerator freezer door control method provided in the above embodiments, a storage medium can also be provided to implement the refrigerator freezer door control method in the embodiment. The storage medium stores a computer program; the computer program is executed by the processor to implement any of the refrigerator freezer door control methods in the above embodiments.

[0110] It should be understood that the specific embodiments described herein are only used to explain this application, but not to limit it. According to the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0111] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0112] Obviously, the drawings are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar situations without creative labor according to the drawings. In addition, it can be understood that although the work done in the development process may be complex and long, but for those skilled in the art, some design, manufacture or production changes according to the technical content disclosed in the present application are only routine technical means, and should not be regarded as insufficient disclosure of the present application.

[0113] The word "embodiment" in the present application means that the specific features, structures or characteristics described in combination with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily mean the same embodiment, nor does it mean independence or alternative to other embodiments. Those skilled in the art can clearly or implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0114] The automatic door opening and closing control method of the anti-pinch hand refrigerator provided by the embodiments of the present application can be applied to the anti-pinch hand refrigerator as shown in FIG. 6. The anti-pinch hand refrigerator includes a cabinet 10, at least one cabinet door 20 (not shown in FIG. 6), at least one pressure sensor 30, at least one door magnetic sensor 40, a push rod motor 50, and a controller (not shown in the figure).

[0115] Among them, the cabinet door includes a refrigeration door and / or a freezing door. The anti-pinch hand refrigerator can be a single-door refrigerator or a double-door refrigerator containing one door, or a single-door refrigerator or a double-door refrigerator containing two doors.

[0116] As shown in FIG. 7, one side of the cabinet door 20 is connected to the cabinet 10 through a hinge assembly 60.

[0117] The pressure sensor 30 is arranged on the cabinet 10 and in contact with the corresponding cabinet door 20 when the cabinet door 20 is closed, for detecting the pressing signal of the user. Optionally, the number of pressure sensors 30 corresponds to the number of cabinet doors 20.

[0118] The door magnetic sensor 40 is arranged on the cabinet 10 and in contact with the corresponding cabinet door 20 when the cabinet door 20 is closed, for detecting the opening and closing state of the cabinet door. Optionally, the number of door magnetic sensors 40 corresponds to the number of cabinet doors 20.

[0119] The push rod motor 50 is arranged on the cabinet 10 and is used to receive a signal sent by the controller to drive the opening and closing of the cabinet door 20.

[0120] The controller is arranged on the cabinet 10 and is in communication connection with the cabinet door 20, the pressure sensor 30, the door magnetic sensor 40 and the push rod motor 50.

[0121] In one of the embodiments, the controller is configured to control the cabinet door 20 to open to a first position by a first angle when a pressing signal is detected; control the cabinet door 20 to reciprocate in a range of a second angle at least once and then return to the first position when the cabinet door 20 reaches a first preset time in the first position; the second angle is smaller than the first angle; and control the cabinet door 20 to rotate to the cabinet 10 until it is closed when the cabinet door 20 reaches a second preset time in the first position.

[0122] In one of the embodiments, if the refrigerator is a double-door refrigerator, the upper double-door is a refrigeration door and the lower double-door is a freezing door, the controller is further configured to determine whether the opening condition is met when the pressing signal is detected in one of the refrigeration door and the freezing door, and if yes, control the one to open to the first position by the first angle.

[0123] In one of the embodiments, if the refrigerator is a double-door refrigerator, the upper double-door is a refrigeration door and the lower double-door is a freezing door, the controller is further configured to detect the state of the other one of the refrigeration door and the freezing door through the first door magnetic sensor or the second door magnetic sensor when the pressing signal is detected in one of the refrigeration door and the freezing door; if the other one is in a closed state, it is determined that the opening condition is met; otherwise, it is determined that the opening condition is not met.

[0124] In one of the embodiments, as shown in FIG. 8, an automatic opening and closing control method of the anti-pinch hand refrigerator is provided, which is applied to the controller in FIG. 6 as an example, and includes the following steps 601 to 603.

[0125] Step 601: when a pressing signal is detected, the cabinet door is controlled to open to a first position by a first angle.

[0126] Specifically, when the cabinet door is closed, the user applies a force to the cabinet door, the controller receives the pressing signal detected by the pressure sensor, and according to the size of the pressing signal, sends an opening signal to the push rod motor to drive the cabinet door to open to the first position by the first angle.

[0127] Step 602: when the cabinet door reaches a first preset time in the first position, the cabinet door is controlled to reciprocate in a range of a second angle at least once and then return to the first position; the second angle is smaller than the first angle.

[0128] Specifically, the box door stays at the first position for a first preset time after reaching the first position, and the user can take or place refrigerator items within the first preset time. After reaching the first preset time, the controller sends a driving signal to the push rod motor, and the push rod motor drives the box door to reciprocate at least once in the second angular range and then return to the first position, reminding the user to close the box door. The driving signal includes the moving direction of the box door with the hinge assembly as the axis.

[0129] Step 603: When the box door reaches the second preset time at the first position, control the box door to rotate towards the box body until it is closed.

[0130] Specifically, after the reminder action is completed, if the box door reaches the second preset time at the first position, it means that the user has not completed the closing action, and the controller sends a closing signal to the push rod motor to drive the box door to rotate towards the box body until the box door is closed.

[0131] In the automatic opening and closing door control method of the above-mentioned anti-pinch hand refrigerator, by controlling the box door to open to the first position at a first angle when the pressing signal is detected, and by controlling the box door to reciprocate at least once in the second angular range and then return to the first position when the box door reaches the first preset time at the first position, the anti-pinch hand closing door prompt during the closing process of the box door is realized, improving the safety of the refrigerator. By controlling the box door to rotate towards the box body until it is closed when the box door reaches the second preset time at the first position, the automatic closing of the box door is realized, further avoiding the situation of pinching hands during the closing process of the box door, and closing the box door in time to avoid air leakage caused by the refrigerator door being open for a long time.

[0132] In one exemplary embodiment, as shown in FIG. 9, step 602 of controlling the box door to reciprocate at least once in the second angular range and then return to the first position includes steps 701 to 702. Wherein:

[0133] Step 701: Send a first driving signal to control the box door to close to the second position by the second angle towards the box body.

[0134] The first driving signal is a reverse closing signal. The second angle is an adjustable preset angle.

[0135] Specifically, when the box door reaches the first preset time at the first position, the controller sends a first driving signal to the push rod motor, and the push rod motor drives the box door to close to the second position by the second angle towards the box body.

[0136] Step 702: When the box door reaches the third preset time at the second position, send a second driving signal to control the box door to open to the first position by the second angle away from the box body.

[0137] The second driving signal is a positive opening signal.

[0138] Specifically, when the door is in the second position for a third preset time, the controller sends a second driving signal to the push rod motor, and the push rod motor drives the door to open to the first position by a second angle away from the cabinet.

[0139] In some embodiments, if the door is in the second position for the third preset time, the user moves the door position to an arbitrary position, and the door is not detected to be closed by the door magnetic sensor when the third preset time is reached, the controller sends a third driving signal to control the door to open to the first position away from the cabinet.

[0140] In this embodiment, the first driving signal and the second driving signal are used to realize the reciprocating movement of the door once, reminding the user to close the door and avoiding the hand from being pinched during the closing process of the door. It should be noted that multiple reciprocating movements of the door can be set according to requirements.

[0141] In one of the embodiments, the method further comprises: generating the first driving signal with a duty cycle of n%, and n is less than 100; and generating the second driving signal with a duty cycle of m%, and m is less than or equal to 100.

[0142] Specifically, the controller controls the extension and retraction speed and range of the push rod motor by changing the duty cycle of the signal to adjust the position of the door. The extension and retraction speed of the push rod motor gradually increases with the increase of the duty cycle. The controller generates the first driving signal with a duty cycle of n%, and the push rod motor drives the door to close to the second position by a second angle in the direction of the cabinet at a slow speed based on the first driving signal; the controller generates the second driving signal with a duty cycle of m%, and the push rod motor drives the door to open to the first position by a second angle away from the cabinet at a fast speed based on the second driving signal.

[0143] In one exemplary embodiment, if the refrigerator is a double-door refrigerator, the upper double-door is a refrigeration door, and the lower double-door is a freezing door, the method further comprises: when one of the refrigeration door and the freezing door detects a pressing signal, determining whether the opening condition is met, and if so, controlling it to open to the first position by a first angle.

[0144] Specifically, the refrigeration door and the freezing door correspond to one pressure sensor respectively, and when any one of the pressure sensors detects a pressing signal of the user, the controller determines whether the door meets the opening condition according to the force of the pressing signal. If the force of the pressing signal is greater than a set force threshold, the controller controls the door to open to the first position by a first angle, otherwise, the door is maintained in a closed state.

[0145] In one of the embodiments, if the refrigerator is a double-door refrigerator, the upper double-door is a refrigeration door, and the lower double-door is a freezing door. At least one door magnetic sensor includes a first door magnetic sensor and a second door magnetic sensor. It is assumed that the refrigeration door corresponds to the first door magnetic sensor, and the freezing door corresponds to the second door magnetic sensor. The method further includes: when one of the refrigeration door and the freezing door detects a pressing signal, detecting the state of the other of the refrigeration door and the freezing door through the first door magnetic sensor or the second door magnetic sensor; if it is in a closed state, it is determined that the door that detects the pressing signal meets the door opening condition, and it is controlled to be opened to a first angle to a first position; otherwise, it does not meet the condition.

[0146] Specifically, if the upper and lower doors are opened at the same time, the user's hand is placed on the hidden handle of the lower freezing door, and the risk of pinching the hand is easy to occur. Therefore, before the control box door is prompted to close to prevent pinching the hand, that is, before the control box door is opened to a first angle to a first position, it is necessary to confirm the opening and closing state of the refrigeration door and the freezing door.

[0147] Alternatively, if the refrigerator is a double-door refrigerator, the left side is a refrigeration door, and the right side is a freezing door. When the box body is in a closed state on one side door and an open state on the other side door, the risk of pinching the hand also occurs. At this time, it is also necessary to confirm the opening and closing state of the refrigeration door and the freezing door before the control box door is prompted to close to prevent pinching the hand, that is, before the control box door is opened to a first angle to a first position.

[0148] If one of the doors receives a pressing signal and the other door is in a closed state, the door meets the door opening condition, and the controller controls it to be opened to a first angle to a first position and continues to execute subsequent steps 602 to 603.

[0149] If one of the doors receives a pressing signal and the other door is in an open state, the door does not meet the door opening condition, and the controller will not control it to be opened to a first angle to a first position, nor will it execute subsequent steps 602 to 603.

[0150] For example, if the refrigerator is a double-door refrigerator, the upper double-door is a refrigeration door, and the lower double-door is a freezing door. When the pressure sensor corresponding to the refrigeration door detects a pressing signal, the controller controls the second door magnetic sensor to detect the opening and closing state of the freezing door according to the pressing signal. If the second door magnetic sensor shows that the freezing door is in a closed state, the refrigeration door meets the door opening condition, and the refrigeration door is controlled to be opened to a first angle to a first position. If the second door magnetic sensor shows that the freezing door is in an open state, the refrigeration door does not meet the door opening condition, and the refrigeration door is maintained in a closed state. If necessary, the user can manually open the refrigeration door.

[0151] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, at least part of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0152] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium has stored thereon a computer program, and the computer program is executed by a processor to implement the steps of the automatic door opening and closing control method of the anti-pinch hand refrigerator in the above embodiments.

[0153] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0154] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0155] The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method of controlling a freezer door of a refrigerator, characterized by, The method comprises: detecting whether the freezer door of the refrigerator is opened by a door magnetic switch; if not, controlling the freezer push rod motor to reverse at a preset first duty ratio for a preset first time length, so that the push rod enters a first retraction buffer state; secondly detecting whether the freezer door of the refrigerator is opened by the door magnetic switch; if yes, controlling the freezer push rod motor to reverse at a preset second duty ratio for a preset second time length, so that the push rod remains in a stop motion state; thirdly detecting whether the freezer door of the refrigerator is in a closed state by the door magnetic switch; if yes, controlling the freezer push rod motor to reverse at a duty ratio of 100% for 1 second, so that the freezer door is closed; wherein the preset first duty ratio is greater than the preset second duty ratio, and the preset first time length is less than the preset second time length.

2. The control method of a freezer door of a refrigerator according to claim 1, wherein, Before detecting whether the freezer door of the refrigerator is opened by the door magnetic switch, the method further comprises: detecting the pressure on the freezer door of the refrigerator by a freezer pressing sensor, and if the pressure is greater than a preset pressure threshold, controlling the freezer push rod motor to operate forward at a duty ratio of 100% for a preset time, so as to drive the push rod to move and push open the freezer door of the refrigerator.

3. The control method of claim 2, wherein, The distance that the push rod is driven by the freezer push rod motor is less than the self-locking point distance of the freezer guide rail spring.

4. The control method of a freezer door of a refrigerator according to claim 1, wherein, The method further comprises: secondly detecting that the freezer door of the refrigerator is not opened by the door magnetic switch, controlling the freezer push rod motor to reverse at a preset third duty ratio for a preset third time length, so that the push rod enters a second retraction buffer state and the freezer door is closed; wherein the preset third duty ratio is greater than the preset first duty ratio, the preset third time length is less than the preset second time length, and the retraction speed of the push rod in the second retraction buffer state is greater than the retraction speed of the push rod in the first retraction buffer state.

5. The control method of claim 1, wherein, Before controlling the freezer push rod motor to reverse at the preset second duty ratio for the preset second time length, the method further comprises: controlling the freezer push rod motor to reverse at the preset second duty ratio for a preset fourth time length, then controlling the freezer push rod motor to reverse at a preset fourth duty ratio for a preset fifth time length, and then controlling the freezer push rod motor to reverse at the preset second duty ratio for the preset second time length; wherein the freezer push rod motor reverses at the preset fourth duty ratio to increase the resistance of the push rod, the preset fourth duty ratio is less than the preset second duty ratio, and the preset fifth time length is less than the preset first time length.

6. The control method of claim 4, wherein, The method further comprises: thirdly detecting whether the freezer door of the refrigerator is in a closed state by the door magnetic switch; if not, waiting for the preset second time length to decrease to 0, and retracting the push rod.

7. The control method of a freezer door of a refrigerator according to claim 1, wherein, The method further comprises: when the refrigerator freezer door is opened, controlling the freezer push rod motor of the refrigerator freezer door to be in an invalid state.

8. A refrigerator freezing door control apparatus, characterized by comprising: The method comprises: a reminding module, a first control module and a second control module, wherein: the reminding module is configured to detect whether the freezer door of the refrigerator is opened by a door magnetic switch; if not, control the freezer push rod motor to reverse at a preset first duty ratio for a preset first time length, so that the push rod enters a first retraction buffer state; The first control module is configured to determine whether the freezer door of the refrigerator is opened by the door magnetic switch for the second time, and if so, control the freezer push rod motor to reverse at a preset second duty ratio for a preset second time length, so that the push rod remains in a stopped state. The second control module is configured to determine whether the freezer door of the refrigerator is in a closed state by the door magnetic switch for the third time, and if so, control the freezer push rod motor to reverse at a duty ratio of 100% for 1 second, so that the freezer door is closed; wherein the preset first duty ratio is greater than the preset second duty ratio, and the preset first time length is less than the preset second time length. 9.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the computer program to perform the refrigerator freezer door control method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the refrigerator freezer door control method of any one of claims 1 to 7.

11. An automatic door opening and closing control method of a pinching hand preventing refrigerator, the refrigerator comprising a cabinet, at least one cabinet door, and at least one pressure sensor corresponding to the cabinet to detect a pressing signal of a user, characterized in that, The method comprises: Upon detecting the pressing signal, controlling the box door to open to a first position by a first angle; Upon the box door reaching a first preset time at the first position, controlling the box door to reciprocate within a second angle range at least once and then return to the first position; the second angle is less than the first angle; Upon the box door reaching a second preset time at the first position, controlling the box door to rotate towards the cabinet until it is closed.

12. The automatic door opening and closing control method of a pinch-guarding refrigerator according to claim 11, wherein, The control of the box door to reciprocate within a second angle range at least once and then return to the first position comprises: sending a first drive signal to control the box door to close by a second angle to a second position towards the cabinet; Upon the box door reaching a third preset time at the second position, sending a second drive signal to control the box door to open by a second angle to the first position away from the cabinet. 13.The automatic door opening and closing control method of the pinch-proof refrigerator according to claim 12, wherein, The method further comprises: generating the first drive signal at a duty ratio of n%, where n is less than 100; generating the second drive signal at a duty ratio of m%, where m is less than or equal to 100. 14.The automatic door opening and closing control method of the pinch-proof refrigerator according to claim 11, wherein, The refrigerator comprises a refrigeration door and a freezer door, and the method further comprises: Upon detecting the pressing signal in one of the refrigeration door and the freezer door, determining whether the opening condition is met, and if so, controlling it to open to a first position by a first angle. 15.The automatic door opening and closing control method of the pinch-proof refrigerator according to claim 14, wherein, The refrigerator further comprises a first door magnetic sensor and a second door magnetic sensor, and the method further comprises: Upon detecting the pressing signal in one of the refrigeration door and the freezer door, detecting the state of the other through the first door magnetic sensor or the second door magnetic sensor; if it is in a closed state, determining that the door detecting the pressing signal meets the opening condition and controlling it to open to a first position by a first angle; otherwise, it does not meet the condition.

16. An anti-pinch hand refrigerator comprising a cabinet, at least one box door, at least one pressure sensor and a controller, the pressure sensor is correspondingly arranged on the cabinet and is configured to detect a pressing signal of a user, characterized in that, The controller is configured to control the box door to open to a first position by a first angle when the pressing signal is detected, control the box door to reciprocate within a second angle range at least once and then return to the first position when the box door reaches a first preset time in the first position, the second angle being smaller than the first angle, and control the box door to rotate to the box body direction until it is closed when the box door reaches a second preset time in the first position. 17.The anti-pinch hand refrigerator according to claim 16, wherein, The at least one box door includes a refrigeration door and a freezing door, and the controller is further configured to determine whether the opening condition is met when the pressing signal is detected in one of the refrigeration door and the freezing door, and control the one to open to the first position by the first angle if the opening condition is met. 18.The anti-pinch hand refrigerator according to claim 17, wherein, The refrigerator further includes a first door magnetic sensor and a second door magnetic sensor, the first door magnetic sensor being configured to detect the opening and closing state of the refrigeration door, and the second door magnetic sensor being configured to detect the opening and closing state of the freezing door. The controller is further configured to detect the state of the other door magnetic sensor through the first door magnetic sensor or the second door magnetic sensor when the pressing signal is detected in one of the refrigeration door and the freezing door, determine that the opening condition is met if the other door magnetic sensor is in the closed state, and determine that the opening condition is not met otherwise. 19.The anti-pinch hand refrigerator according to claim 16, wherein, The refrigerator further includes a hinge assembly, and the box door is connected to the box body through the hinge assembly. 20.The anti-pinch hand refrigerator according to claim 16, wherein, The refrigerator further includes a push rod motor configured to receive a driving signal sent by the controller to drive the opening and closing of the box door.

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