Cooking appliance and leveling control method thereof

Abstract

The present application provides a cooking utensil and a leveling control method thereof, which relate to the field of electrical appliance technology. The cooking utensil comprises a shell, a plurality of supporting legs, a driving device and a control device. The shell has a cooking cavity. The supporting legs are located at the bottom of the shell, and the supporting legs are retractably arranged at the bottom of the shell. The driving device is connected to the plurality of supporting legs, and the driving device is used to drive the supporting legs to be retracted. The control device is electrically connected to the driving device, and the control device is used to control the driving device to drive the supporting legs to be retracted according to the inclination angle between the bottom of the shell and the horizontal plane obtained, so as to adjust the bottom of the shell to a horizontal state. The cooking utensil provided by the present application can effectively improve the cleanliness of the cavity of the cooking utensil, reduce the cleaning workload of the cooking utensil, thereby facilitating the cleaning of the cooking utensil, and can improve the utilization rate of the heating tube in the cooking utensil and improve the heating efficiency of the cooking utensil.

Description

Technical Field

[0001] The present application relates to the field of electrical appliance technology, and in particular to a cooking appliance and a leveling control method thereof. Background Art

[0002] Cooking utensils are tools or equipment used in the cooking process. With the continuous development of cooking utensil technology, the types of cooking utensils are becoming more and more abundant. Among them, steamers, ovens, steam-bake machines, oven-microwave machines, and steam-bake-microwave machines are becoming more and more common in people's lives.

[0003] Take the steam-bake combination machine as an example. The steam-bake combination machine includes a shell, a baking tray and a heating tube located inside the shell. The baking tray is used to place cooking ingredients. The heating tube is located at the bottom of the shell. The heating tube can heat water at the bottom of the shell so that the water can generate steam to steam the ingredients.

[0004] When using a cooking appliance, the shell usually tilts due to an uneven bottom, causing the liquid in the baking pan to overflow into the shell cavity, causing cavity contamination, reducing the cleanliness of the cavity, and bringing inconvenience to the user. The tilted bottom of the shell will cause the water in the shell to flow to a local position on one side, so that the water cannot fully contact the heating tube, reducing the utilization rate of the heating tube, thereby affecting the working efficiency of the steam-bake combination machine. Summary of the invention

[0005] The present application provides a cooking appliance and a leveling control method thereof, which can effectively improve the cleanliness of a cavity of the cooking appliance, facilitate the cleaning of the cooking appliance, and improve the heating efficiency of the cooking appliance.

[0006] One aspect of the present application provides a cooking appliance, comprising:

[0007] a housing having a cooking cavity;

[0008] A plurality of supporting legs, wherein the supporting legs are located at the bottom of the shell, and the supporting legs are retractably arranged at the bottom of the shell;

[0009] A driving device, the driving device is connected to the plurality of supporting legs, and the driving device is used to drive the supporting legs to extend and retract;

[0010] A control device is electrically connected to the drive device, and is used to control the drive device to drive the support legs to extend and retract according to the acquired inclination angle between the bottom of the shell and the horizontal plane, so as to adjust the bottom of the shell to a horizontal state.

[0011] The embodiment of the present application can adjust the telescopic length of each support leg to make the bottom of the cooking utensil in a horizontal state, so that the baking tray in the shell, the bottom of the shell, etc. can all be in a horizontal state, which can effectively reduce or avoid the tilt of the baking tray and the liquid in the baking tray overflowing into the shell, and can effectively prevent the liquid in the baking tray from overflowing and causing the cavity of the shell to be stained, so as to maintain the cleanliness of the cavity, reduce the cleaning workload of the cooking utensil, and effectively improve the user experience. Moreover, it can also make the water at the bottom of the shell evenly distributed at the bottom of the shell, and make full and uniform contact with the heating pipe, which can effectively improve the heating efficiency of the heating pipe to the water and improve the heating efficiency of the cooking utensil.

[0012] In addition, since the extension and retraction of the support legs is driven by the control device according to the acquired inclination angle between the bottom of the shell and the horizontal plane, the extension and retraction of the support legs is highly accurate and the bottom of the shell can be accurately adjusted to a horizontal state.

[0013] Based on the above technical solution, the present application can also be improved as follows.

[0014] In a possible implementation, the cooking appliance also includes a first detection device, which is located at the bottom of the shell, and is electrically connected to the control device. The first detection device is used to detect the inclination angle between the bottom of the shell and the horizontal plane, so that the control device controls the driving device to drive the supporting legs to extend and retract according to the inclination angle to adjust the bottom of the shell to a horizontal state.

[0015] In a possible implementation, the control device is used to determine a reference point and an adjustment point according to the tilt angle, the reference point being the highest vertical position among the positions where each of the supporting feet is connected to the bottom of the shell, and the adjustment point being the position where each of the supporting feet is connected to the bottom of the shell lower than the reference point;

[0016] The control device is also used to determine the angle between the line connecting the reference point and each of the adjustment points and the horizontal plane, and determine the corresponding telescopic distance of the supporting foot according to each of the angles;

[0017] The control device is also used to control the driving device to drive the supporting legs to extend and retract according to the telescopic distance, so as to adjust the bottom of the shell to a horizontal state.

[0018] In a possible implementation, the control device is also used to determine the extension and retraction speed of the corresponding supporting legs according to the preset extension and retraction time and each extension and retraction distance, and control the corresponding supporting legs to move simultaneously according to the extension and retraction speed so that the extension and retraction time of each supporting leg is equal.

[0019] In a possible implementation, the cooking appliance further includes a second detection device, and each of the supporting legs is connected to the second detection device;

[0020] The second detection device is electrically connected to the control device, and is used to detect the pressure of the supporting foot and transmit the pressure to the control device. The control device is used to send a prompt signal when the pressure is lower than a preset pressure to prompt the replacement of the placement position of the cooking utensil.

[0021] In a possible implementation, the control device is further configured to send a prompt signal when the extension distance of the support leg is greater than a preset distance, so as to prompt the user to change the placement position of the cooking utensil.

[0022] Another aspect of the present application provides a cooking appliance leveling control method for leveling the cooking appliance in any one of the above items, the method comprising:

[0023] Obtaining an inclination angle between the bottom of a shell of the cooking appliance and a horizontal plane;

[0024] Determining the telescopic distance of each supporting leg according to the tilt angle;

[0025] The driving device is controlled to drive the supporting legs to extend and retract according to the telescopic distance, so as to adjust the bottom of the shell to a horizontal state.

[0026] The cooking appliance leveling control method of the present application has the following beneficial effects:

[0027] The cooking utensil leveling control method of the present application determines the telescopic distance of each support foot by obtaining the inclination angle between the bottom of the shell of the cooking utensil and the horizontal plane, and drives the support foot to telescope to a length through a driving device. When the length of the support foot reaches the telescopic distance, the support foot adjusts the bottom of the shell to a horizontal state. When the bottom of the shell is adjusted to a horizontal state, the shell of the cooking utensil and the cooking cavity inside the shell are in a horizontal state, preventing the cooking utensil from tipping over or the food in the cooking cavity from spilling out, thereby reducing safety hazards. Since the cooking cavity is in a horizontal state, the user experience and cooking effect of the cooking utensil can be improved.

[0028] In addition, since the extension and retraction of the support legs is driven by the control device according to the acquired inclination angle between the bottom of the shell and the horizontal plane, the extension and retraction of the support legs is highly accurate and the bottom of the shell can be accurately adjusted to a horizontal state.

[0029] Based on the above technical solution, the present application can also be improved as follows.

[0030] In a possible implementation, determining the telescopic distance of each supporting leg according to the tilt angle includes:

[0031] Determine a reference point and an adjustment point according to the inclination angle, wherein the reference point is the highest vertical position among the positions where each of the supporting legs is connected to the bottom of the shell, and the adjustment point is the position where each of the supporting legs is connected to the bottom of the shell lower than the reference point;

[0032] The angle between the horizontal plane and the line connecting the reference point and each of the adjustment points is determined, and the corresponding telescopic distance of the supporting foot is determined according to each of the angles.

[0033] In a possible implementation, determining the corresponding extension and retraction distance of the supporting foot according to each of the included angles includes:

[0034] The telescopic distance of each supporting leg is determined according to the following formula:

[0035]

[0036] Among them, the L is the distance between the reference point and the adjustment point, is the angle between the line between the reference point and the adjustment point and the horizontal plane, l is the telescopic distance of the supporting foot corresponding to the angle.

[0037] In a possible implementation, before obtaining the inclination angle between the bottom of the housing of the cooking appliance and the horizontal plane, the control method further includes:

[0038] Obtaining the pressure of each of the supporting feet;

[0039] judging whether the supporting foot is in a suspended state according to the pressure;

[0040] When the supporting feet are in a suspended state, a prompt is provided to change the placement position of the cooking utensil.

[0041] In a possible implementation, judging whether the supporting foot is in a suspended state by the pressure includes:

[0042] When the pressure is less than the preset pressure, the supporting foot is in a suspended state.

[0043] In a possible implementation, after determining the extension and retraction distance of each supporting leg according to the inclination angle, the method further includes:

[0044] When the telescopic distance of the supporting legs is greater than a preset distance, a prompt is given that the leveling range is exceeded and the placement position of the cooking utensil is changed.

[0045] In a possible implementation, the control method further includes:

[0046] The supporting foot is made to complete the telescopic action within a preset time, and the telescopic process of the supporting foot is sequentially accelerated, uniformly accelerated, decelerated, uniformly accelerated, decelerated, uniformly decelerated, and decelerated.

[0047] In a possible implementation, the supporting leg is made to complete the extension and retraction action within a preset time, and the extension and retraction process of the supporting leg is sequentially accelerated, uniformly accelerated, decelerated, uniformly accelerated, decelerated, uniformly decelerated, and decelerated, including:

[0048] The extension and retraction speed of the support leg is determined by the following formula:

[0049]

[0050] Among them, the V t is the extension and retraction speed of the supporting foot at time t, T1 is the time period of the accelerated motion of the supporting foot, T2 is the time period of the uniformly accelerated motion of the supporting foot, t1 is the moment when the supporting foot switches from the accelerated motion to the uniformly accelerated motion, t2 is the moment when the supporting foot switches from the uniformly accelerated motion to the decelerated motion, t3 is the moment when the supporting foot switches from the decelerated motion to the uniform motion, t4 is the moment when the supporting foot switches from the uniform motion to the accelerated and decelerated motion, t5 is the moment when the supporting foot switches from the accelerated and decelerated motion to the uniformly decelerated motion, t6 is the moment when the supporting foot switches from the uniformly decelerated motion to the decelerated and decelerated motion, t7 is the moment when the deceleration of the supporting foot stops, and τ k =tt k-1 (k=1, 2, 3, 4, 5, 6, 7), J is the acceleration of the supporting leg during accelerated motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A schematic diagram of the three-dimensional structure of a cooking utensil provided in an embodiment of the present application;

[0053] Figure 2 A bottom view of the cooking utensil provided in an embodiment of the present application;

[0054] Figure 3 for Figure 2 The schematic diagram of the structure after the bottom cover is omitted;

[0055] Figure 4 A side view of a cooking appliance provided by an embodiment of the present application;

[0056] Figure 5 A schematic diagram of the structure of the support foot provided in the embodiment of the present application;

[0057] Figure 6 A schematic diagram of the structure of the support foot provided in an embodiment of the present application in another state;

[0058] Figure 7 A partial schematic diagram of a driving device provided in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the extension and retraction of the support legs provided in an embodiment of the present application;

[0060] Fig. 9 A schematic diagram of the speed change during the extension and retraction process of the support legs provided in an embodiment of the present application;

[0061] Fig.10 A schematic diagram of the acceleration change during the extension and retraction process of the support legs provided in an embodiment of the present application.

[0062] Reference numerals:

[0063] 1- Cooking utensils;

[0064] 10- housing;

[0065] 20-supporting foot; 20a-first supporting foot; 20b-second supporting foot;

[0066] 20c-third supporting leg; 20d-fourth supporting leg;

[0067] 21- telescopic rod; 22- foot; 23- universal ball head structure; 24- connecting seat;

[0068] 30- driving device;

[0069] 31-driving pump; 33-transmission pipe; 34-distribution valve; 32-oil storage tank;

[0070] 40-control device;

[0071] 50-bottom cover;

[0072] 60- first detection device;

[0073] a-first connection position; b-second connection position; c-third connection position; d-fourth connection position. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0075] The present application provides a cooking utensil, which can be used to cook food so that the food is processed into cooked food for consumption. For example, the cooking utensil can be a steamer, an oven, a microwave oven, a steam-bake all-in-one machine, a bake-microwave all-in-one machine, and a steam-bake-microwave all-in-one machine. In the embodiments of the present application, the cooking utensil is taken as an example of a steam-bake all-in-one machine for description.

[0076] See also Figure 1 and Figure 3 As shown, the cooking appliance may include a housing 10 , and the housing 10 may have a cooking cavity. The cooking cavity may be a cavity arranged inside the housing 10 , and the cooking cavity is used to contain food materials, seasonings, etc., so as to perform cooking.

[0077] A baking tray may be provided in the housing 10, and the baking tray may be used to place cooking ingredients so that the cooking utensil can heat and cook the ingredients. A heating tube and water may also be provided at the bottom of the housing 10, and the heating tube may generate heat after being powered on to heat the water at the bottom of the housing, so that the water may generate steam at high temperature to heat and cook the ingredients.

[0078] As described in the above background technology, during the use of a cooking utensil, the shell will usually tilt due to an uneven bottom. For example, if the cooking utensil is placed in an uneven position (e.g., outdoors, on an inclined surface, etc.), the cooking utensil will tilt, and then the bottom of the shell and the baking tray inside the shell will tilt. The tilt of the baking tray can easily cause the liquid in the baking tray to overflow into the cavity of the shell, causing contamination of the cavity, and requiring the user to clean the cavity during subsequent use. This increases the cleaning workload of the cooking utensil, brings great inconvenience to the user's cleaning, and reduces the user experience.

[0079] If the bottom of the shell is tilted, the water at the bottom of the shell will flow to a local position on one side, preventing the water from fully contacting the heating tube, thereby reducing the utilization rate of the heating tube and affecting the working efficiency of the steam-bake machine.

[0080] In order to solve the above problems, the embodiment of the present application has improved the cooking utensil. By adjusting the telescopic length of each supporting foot, the bottom of the cooking utensil can be placed in a horizontal state, so that the baking tray in the shell, the bottom of the shell, etc. can all be placed in a horizontal state, which can effectively reduce or prevent the baking tray from tilting and causing the liquid in the baking tray to overflow into the shell, and can effectively prevent the liquid in the baking tray from overflowing and causing the cavity of the shell to be stained, which can maintain the cleanliness of the cavity, reduce the cleaning workload of the cooking utensil, and effectively improve the user experience. Moreover, the water in the shell can be evenly distributed at the bottom of the shell, and fully and evenly contact the heating pipe, which can effectively improve the heating efficiency of the heating pipe to the water and improve the heating efficiency of the cooking utensil.

[0081] The cooking utensil provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0082] See also Figure 1 As shown, the cooking appliance 1 may further include a plurality of supporting feet 20 , a driving device 30 and a control device 40 . The driving device 30 and the control device 40 may be disposed at the bottom of the housing 10 and protected by a bottom cover 50 .

[0083] like Figure 1 As shown, the support legs 20 are located at the bottom of the housing 10, so that the support legs 20 can support the housing 10, and the number of the support legs 20 can be multiple, for example, the number of the support legs 20 can be three, four or more. Figure 1 and Figure 2 In the embodiment of the present application, the number of the supporting legs 20 is four as an example for explanation, and the four supporting legs 20 can be arranged at intervals along the circumferential direction at the bottom of the housing 10. For example, referring to Figure 1 When the bottom of the shell 10 is rectangular, the four supporting feet 20 can be respectively arranged at the four vertices of the bottom of the shell 10.

[0084] Each support leg 20 is retractably disposed at the bottom of the housing 10, that is, the length of each support leg 20 is adjustable. Figure 4 The left support leg 20 can be in an extended state, and the right support leg 20 can be in a shortened state. When the housing 10 is placed on a non-horizontal surface, the housing 10 is in an inclined state, and the housing 10 can be adjusted to a horizontal state by adjusting the length of each support leg 20.

[0085] like Figure 5 and Figure 6As shown, each supporting leg 20 includes a telescopic rod 21 and a foot 22. The telescopic rod 21 is a telescopic part in the supporting leg 20. The telescopic rod 21 can be connected to the driving device 30, and the telescopic rod 21 and the bottom of the housing 10 are telescopically arranged, so that the driving device 30 can drive the telescopic rod 21 to be telescopic, so as to achieve the telescopic movement of the supporting leg 20. The foot 22 is the part of the supporting leg 20 that contacts the placement plane, and the foot 22 is connected to the telescopic rod 21. The material of the foot 22 can be plastic, rubber or metal. In this way, the supporting leg 20 can adjust the telescopic distance of the supporting leg 20 by the telescopic movement of the telescopic rod 21.

[0086] like Figure 5 and Figure 6 As shown, each support foot 20 may also have a universal ball head structure 23, and the universal ball head structure 23 is used to connect the telescopic rod 21 and the base foot 22. The top part of the universal ball head structure 23 is connected to the telescopic rod 21, and the bottom ball head part of the universal ball head structure 23 is rotatably connected to the base foot 22. For example, the base foot 22 has a semi-spherical groove, and the universal ball head structure 23 is arranged in the groove. With this arrangement, the base foot 22 is easy to disassemble, and it is convenient to maintain and replace the base foot 22. Figure 5 and Figure 6 As shown, due to the arrangement of the universal ball head structure, the base foot 22 can be rotated in any direction, so that the support foot 20 can be rotated to fit the placement plane of the cooking utensil.

[0087] like Figure 5 and Figure 6 As shown, the bottom of the housing 10 has a plurality of connection seats 24 , each connection seat 24 has an assembly hole, and the telescopic rod 21 can be telescopically connected in the assembly hole to achieve the telescopic movement of the telescopic rod 21 .

[0088] The driving device 30 is used to drive the supporting legs 20 to extend and retract. The driving device 30 is connected to multiple supporting legs 20. The driving device 30 can be a hydraulic driving structure, a pneumatic driving structure, an electric driving structure or other driving structures that can drive the supporting legs 20 to extend and retract.

[0089] refer to Figure 3 The driving device 30 may include a driving pump 31, a plurality of driving cylinders (not shown) and a plurality of transmission pipes 33. Each driving cylinder may be connected to each supporting foot 20, and each driving cylinder is also connected to each transmission pipe 33.

[0090] The driving pump 31 is electrically connected to the control device 40 , and the driving pump 31 can be connected to the driving cylinder through the transmission pipe 33 , so that the driving pump 31 transmits the power source to the driving cylinder through the transmission pipe 33 , so that the driving cylinder drives the supporting leg 20 to extend and retract.

[0091] refer to Figure 7The driving device 30 further includes a distribution valve 34, which has an input port and a plurality of output ports, wherein the input port is connected to the driving pump 31, and each port is respectively connected to the transmission pipe 33. The distribution valve 34 is electrically connected to the control device 40, and the control device 40 controls the distribution valve 34 to transmit the power source of the driving pump 31 to the designated driving cylinder through the designated transmission pipe 33, so that the corresponding supporting leg 20 can be extended and retracted under the action of the power source.

[0092] For example, in the embodiment of the present application, the driving device 30 may be a hydraulic driving device, the driving pump 31 may be a hydraulic pump, the corresponding driving cylinder may be a hydraulic cylinder, the distribution valve 34 may be a reversing valve, and the power source may be hydraulic oil. Figure 7 The driving device 30 also includes an oil storage tank 32, in which hydraulic oil is stored. The driving pump 31 can be connected to the oil storage tank 32, and the driving pump 31 can pump the hydraulic oil in the oil storage tank 32 into the distribution valve 34, so that the distribution valve 34 distributes the hydraulic oil as a power source to the designated transmission pipe 33.

[0093] The driving device 30 drives the supporting legs 20 to extend, thereby raising the housing 10 above the supporting legs 20. The driving device 30 drives the supporting legs 20 to shorten, thereby lowering the housing 10 above the supporting legs 20. By extending and retracting the supporting legs 20, the various parts of the housing 10 are at the same height, thereby adjusting the housing 10 to a horizontal state.

[0094] The control device 40 is electrically connected to the driving device 30, and the control device 40 can receive the tilt angle between the bottom of the housing 10 and the horizontal plane, and control the driving device 30 to drive the support legs 20 to extend and retract according to the tilt angle. For example, the tilt angle is used to determine whether each support leg 20 should be extended, shortened, or remain unchanged, and to confirm the extension or shortening amount of each support leg 20. Then, each support leg 20 is controlled to extend or retract to adjust the bottom of the housing 10 to a horizontal state.

[0095] The cooking utensil provided in the embodiment of the present application can make the bottom of the cooking utensil in a horizontal state by adjusting the telescopic length of each supporting foot 20, so that the baking tray in the shell 10, the bottom of the shell, etc. can all be in a horizontal state, which can effectively reduce or avoid the tilt of the baking tray and the liquid in the baking tray overflowing into the shell 10, and can effectively prevent the liquid in the baking tray from overflowing and causing the cavity of the shell 10 to be stained, which can maintain the cleanliness of the cavity, reduce the cleaning workload of the cooking utensil, and effectively improve the user experience. Moreover, it can also make the water in the shell evenly distributed at the bottom of the shell, and make full and uniform contact with the heating pipe, which can effectively improve the heating efficiency of the heating pipe to the water and improve the heating efficiency of the cooking utensil.

[0096] In addition, since the extension and retraction of the support leg 20 is driven by the control device 40 to control the driving device 30 according to the obtained inclination angle between the bottom of the shell 10 and the horizontal plane, the extension and retraction of the support leg 20 is highly accurate, and the bottom of the shell 10 can be accurately adjusted to a horizontal state, so that the cooking appliance can perform cooking operations in a horizontal state, which can effectively meet the high-precision requirements of the cooking appliance for the working environment.

[0097] In some embodiments, Figure 3 As shown, the cooking appliance 1 further includes a first detection device 60, which may be an angle sensor or a level sensor such as a gyroscope. The first detection device 60 may be located at the bottom of the housing 10, for example, the first detection device 60 may be attached to the bottom of the housing 10. Since the first detection device 60 is located at the bottom of the housing 10, the first detection device 60 may detect the inclination angle between the bottom of the housing 10 and the horizontal plane. The first detection device 60 may be electrically connected to the control device 40, so that the control device 40 may receive the inclination angle.

[0098] According to the above tilt angle, the tilt direction and tilt degree of the bottom of the housing 10 can be determined, and then it can be concluded that each support leg 20 should be extended, shortened or unchanged in length, and the extension or shortening amount of each support leg 20 can be confirmed. Then, each support leg 20 is controlled to extend or contract to adjust the bottom of the housing 10 to a horizontal state.

[0099] Based on the above embodiment, the reference point and the adjustment point can be determined according to the above tilt angle. The reference point can be the highest position in the vertical direction among the positions where each support leg 20 is connected to the bottom of the housing 10. The adjustment point can be the position below the reference point among the positions where each support leg 20 is connected to the bottom of the housing 10. Figure 8 For example, the number of supporting feet is four. For the convenience of description, the four supporting feet are defined as the first supporting foot 20a, the second supporting foot 20b, the third supporting foot 20c and the fourth supporting foot 20d. The connection positions of the first supporting foot 20a, the second supporting foot 20b, the third supporting foot 20c and the fourth supporting foot 20d with the bottom of the shell 10 are defined as the first connection position a, the second connection position b, the third connection position c and the fourth connection position d respectively. Among them, the first connection position a is the highest point in the vertical direction, and the first connection position a is the reference point. The second connection position b, the third connection position c and the fourth connection position d are lower than the first connection position a in the vertical direction, and the second connection position b, the third connection position c and the fourth connection position d are adjustment points.

[0100] The control device 40 is also used to determine the angle between the line connecting the reference point and each adjustment point and the horizontal plane, and determine the telescopic distance of each support leg according to each angle. Figure 8Taking the first connection position a and the fourth connection position d as examples, the control device 40 obtains the angle between the line connecting the first connection position a and the fourth connection position d and the horizontal plane, and the telescopic distance of the fourth support leg 20d corresponding to the fourth connection position d can be obtained according to the trigonometric function. The calculation method of the telescopic distance of the support leg corresponding to the other adjustment points can refer to the above process and will not be repeated one by one.

[0101] The control device 40 can control the driving device 30 to drive each supporting leg to extend and retract according to each extension distance, so that each adjustment point is at the same height as the reference point, thereby adjusting the bottom of the shell 10 to a horizontal state.

[0102] In the embodiment of the present application, the highest point in the vertical direction of the position where each support leg 20 is connected to the bottom of the shell 10 is set as the reference point, and the rest are set as adjustment points. During the adjustment process, the support legs 20 corresponding to each adjustment point can be extended or retracted to raise each adjustment point to the same height as the reference point. That is, the reference point and each adjustment point are located in the same horizontal plane, so that the bottom of the shell 10 can be in a horizontal state. The cooking utensil 1 can be used for cooking in a horizontal state, which can effectively improve the stability and safety of the cooking process.

[0103] Compared with determining the reference point as other positions (for example, the center of the housing 10, other positions of the housing 10, etc.), by determining the reference point as the highest point, the telescopic distance of each other support leg 20 can be conveniently and accurately calculated. During the adjustment process, only the support legs 20 corresponding to the adjustment point need to be telescoped to adjust the housing 10 of the cooking appliance to a horizontal state. The calculation principle is simple, the operation is reliable, and the adjustment accuracy is high, which can effectively improve the leveling accuracy and reliability of the cooking appliance.

[0104] In addition, compared to determining the reference point as a lower point, since the support legs 20 are in a retracted state in the initial state, during the leveling process, the corresponding part of the shell 10 is raised by extending the support legs 20. Therefore, determining the reference point as the highest point and raising the point with a lower vertical height as an adjustment point to level the shell 10 can increase the rationality of the leveling process. Moreover, if a lower position is selected as the reference point, during the leveling process, by retracting the support legs 20 at the highest point, the highest point is located at a higher position. Even if the corresponding support legs 20 are retracted to the minimum length, there is still a situation where the height of the highest point cannot be lowered, resulting in the inability to level the cooking utensil.

[0105] On the basis of the above embodiment, the control device 40 is also used to determine the telescopic speed of the corresponding support foot 20 according to the preset telescopic time and each telescopic distance, so that the telescopic time of each support foot 20 is equal. And control each support foot 20 to move simultaneously, so that each support foot 20 is synchronously adjusted to the target position. For example, for a support foot with a longer telescopic distance, the telescopic speed of the corresponding support foot can be faster, and for a support foot with a shorter telescopic distance, the telescopic speed of the corresponding support foot can be slower. In this way, each support foot can be telescoped in the same time, so as to improve the synchronization of the adjustment of each support foot, and effectively improve the working efficiency of the leveling of the cooking utensil.

[0106] Moreover, compared with extending and leveling each supporting leg 20 in turn, the situation in which the cooking appliance tilts or tips over due to uneven force caused by extending and retracting one supporting leg 20 at a time can be reduced or avoided, which is beneficial to improving the stability and reliability of the cooking appliance leveling process.

[0107] In addition, the synchronous adjustment of each supporting foot 20 can make the lower part of the bottom of the shell 10 rise synchronously and smoothly, which can effectively reduce or avoid the shaking of the baking tray, and can prevent the baking tray from shaking and causing the food in the baking tray to overflow or even fall, thereby improving the protection of the food in the cooking utensil.

[0108] In some embodiments, the cooking appliance 1 further includes a second detection device, which may be a pressure sensor, and each supporting foot 20 may be connected to the second detection device. The second detection device may be used to detect the pressure of the corresponding supporting foot 20, and each second detection device may be electrically connected to the control device 40, so as to transmit the pressure of each supporting foot 20 to the control device 40.

[0109] When the pressure of a support leg 20 is lower than the preset pressure, it means that the support leg 20 is not subjected to external pressure, and it can be inferred that the support leg 20 is in a suspended state. The preset pressure can be set to different values ​​according to different types of cooking utensils. When the control device receives that the pressure of the support leg 20 is lower than the preset pressure, the control device 40 can send a prompt signal to prompt the placement of the cooking utensil 1 to be changed.

[0110] For example, refer to Figure 1 , one of the four supporting legs 20 is in a suspended state, and the other supporting legs 20 are not suspended. At this time, the bottom of the housing 10 is parallel to the horizontal plane under the action of the three supporting legs. At this time, the control device will not level the cooking utensil, and although the cooking utensil 1 is placed on a horizontal plane, there is still a safety hazard of tipping over. Therefore, changing the placement of the cooking utensil 1 at this time can timely avoid the safety hazard caused by the suspended supporting legs 20.

[0111] In some embodiments, when the telescopic distance of the support leg 20 is greater than a preset distance, the control device 40 may send a prompt signal to prompt the user to change the placement of the cooking utensil 1. For example, when the control device calculates that the telescopic distance of the support leg is greater than the maximum distance that the support leg itself can telescope, it means that the telescopic distance of the support leg 20 exceeds the telescopic range of the support leg, and the cooking utensil 1 is difficult to level. At this time, the control device 40 sends a prompt signal to prompt the user to change the placement of the cooking utensil 1 so that the cooking utensil can be leveled at another placement position to avoid the situation where the cooking utensil 1 is difficult to level at a certain placement position.

[0112] The present application also provides a cooking appliance leveling control method, which is used to level the cooking appliance 1 in any of the above embodiments. The leveling control method comprises the following steps:

[0113] Step A: Obtain the inclination angle between the bottom of the housing 10 of the cooking appliance 1 and the horizontal plane. For example, the inclination angle can be detected by a first detection device 60 installed at the bottom of the housing 10. The first detection device 60 can be an angle sensor or a horizontal sensor such as a gyroscope.

[0114] Step B: Determine the telescopic distance of each support leg 20 according to the tilt angle. For example, determine whether each support leg 20 should be extended, shortened, or remain unchanged according to the tilt angle, and confirm the extension amount or shortening amount of each support leg 20.

[0115] Step C: Control the driving device 30 to drive the supporting legs 20 to extend or retract according to the extension distance to adjust the bottom of the housing 10 to a horizontal state. For example, control the driving device 30 to drive each supporting leg 20 to extend or retract to adjust the bottom of the housing 10 to a horizontal state.

[0116] The leveling control method of the cooking utensil provided in the embodiment of the present application can make the bottom of the cooking utensil in a horizontal state by adjusting the telescopic length of each support foot 20, so that the baking tray in the shell 10, the bottom of the shell, etc. can all be in a horizontal state, which can effectively reduce or avoid the tilt of the baking tray and the liquid in the baking tray overflowing into the shell 10, and can effectively prevent the liquid in the baking tray from overflowing and causing the cavity of the shell 10 to be stained, so as to maintain the cleanliness of the cavity, reduce the cleaning workload of the cooking utensil, and effectively improve the user experience. Moreover, it can also make the water in the bottom of the shell evenly distributed at the bottom of the shell, and make full and uniform contact with the heating pipe, which can effectively improve the heating efficiency of the heating pipe to the water and improve the heating efficiency of the cooking utensil.

[0117] In addition, since the extension and retraction of the support leg 20 is driven by the control device 40 to control the driving device 30 according to the obtained inclination angle between the bottom of the shell 10 and the horizontal plane, the extension and retraction of the support leg 20 is highly accurate and can accurately adjust the bottom of the shell 10 to a horizontal state.

[0118] In some embodiments, determining the extension distance of each support leg according to the tilt angle includes:

[0119] The reference point and adjustment point are determined according to the inclination angle. The reference point is the highest vertical position among the positions where each supporting foot is connected to the bottom of the shell, and the adjustment point is the position below the reference point among the positions where each supporting foot is connected to the bottom of the shell.

[0120] Specifically, refer to Figure 8 For the convenience of description, the four supporting feet are defined as the first supporting foot 20a, the second supporting foot 20b, the third supporting foot 20c and the fourth supporting foot 20d. The connection positions of the first supporting foot 20a, the second supporting foot 20b, the third supporting foot 20c and the fourth supporting foot 20d with the bottom of the shell 10 are defined as the first connection position a, the second connection position b, the third connection position c and the fourth connection position d respectively. Among them, the first connection position a is the highest point in the vertical direction, and the first connection position a is the reference point. The second connection position b, the third connection position c and the fourth connection position d are lower than the first connection position a in the vertical direction, and the second connection position b, the third connection position c and the fourth connection position d are adjustment points.

[0121] The angle between the line connecting the reference point and each adjustment point and the horizontal plane is determined, and the corresponding telescopic distance of the supporting foot is determined according to each angle.

[0122] Specifically, refer to Figure 8 Taking the first connection position a and the fourth connection position d as examples, the control device 40 obtains the angle between the line connecting the first connection position a and the fourth connection position d and the horizontal plane, and can obtain the telescopic distance of the fourth support leg 20d corresponding to the fourth connection position d according to the trigonometric function. The telescopic distances of the support legs corresponding to the remaining adjustment points are similar to the telescopic distance of the fourth support leg 20d, and are not described one by one.

[0123] The control device 40 controls the driving device 30 to drive each supporting leg to extend and retract according to each extension and retraction distance, so that each adjustment point is at the same height as the reference point, thereby adjusting the bottom of the shell 10 to a horizontal state.

[0124] In the embodiment of the present application, the highest point in the vertical direction of the position where each supporting foot 20 is connected to the bottom of the shell 10 is set as the reference point, and the rest are set as adjustment points, so that only the supporting feet 20 corresponding to the adjustment points need to be extended or retracted. Compared with determining the reference point as the center position of the shell, the calculation principle is simple, the operation is reliable, and the adjustment accuracy is high, which can effectively save the operation process and improve the leveling accuracy of the cooking appliance.

[0125] Moreover, compared with determining the reference point as the lower point in the vertical direction at the position where each supporting foot 20 is connected to the bottom of the shell 10, it can also improve the rationality of the cooking appliance leveling principle, avoid the situation where the highest position cannot be lowered during the adjustment process, and help improve the reliability of the cooking appliance leveling.

[0126] In some embodiments, determining the corresponding extension and retraction distances of the supporting feet according to each angle includes:

[0127] Determine the telescopic distance of each support leg according to the following formula:

[0128]

[0129] in, L is the distance between the reference point and the adjustment point, is the angle between the line between the reference point and the adjustment point and the horizontal plane, l is the extension and retraction distance of the supporting foot corresponding to the angle.

[0130] Specifically, refer to Figure 8 The first connection position a, the second connection position b, the third connection position c and the fourth connection position d are all located on the inclined plane at the bottom of the housing 10. Taking the first connection position a and the fourth connection position d as an example, the first connection position a is the reference point and the fourth connection position d is the adjustment point. 1 is the distance between the first connection position a and the fourth connection position d, is the angle between the line between the first connection position a and the fourth connection position d and the horizontal plane, l The calculation method of the telescopic distances of the supporting feet corresponding to the remaining adjustment points can refer to the above process and will not be described in detail.

[0131] After determining the telescopic distance of each supporting leg, the control device 40 can control the driving device 30 to drive each supporting leg to telescope according to each telescopic distance, so that each adjustment point is at the same height as the reference point, thereby adjusting the bottom of the shell 10 to a horizontal state.

[0132] In some embodiments, before obtaining the inclination angle between the bottom of the housing 10 of the cooking appliance 1 and the horizontal plane, the control method further includes:

[0133] The pressure of each supporting foot 20 may be obtained, for example, by using a pressure sensor installed on the supporting foot 20 .

[0134] Whether the supporting foot 20 is in a suspended state is determined by the pressure.

[0135] When the support legs 20 are in a suspended state, it is prompted to change the placement position of the cooking utensil.

[0136] For example, refer to Figure 1 , one of the four supporting legs 20 is suspended in the air, and when the other supporting legs 20 are not suspended in the air, the bottom of the housing 10 is parallel to the horizontal plane. At this time, the cooking utensil 1 is placed on the horizontal plane, but there is still a safety hazard of tipping over. Changing the placement position of the cooking utensil 1 can avoid the safety hazard caused by the suspended supporting legs 20.

[0137] Based on the above embodiment, judging whether the support leg 20 is in the suspended state by pressure includes: when the pressure is less than a preset pressure, the support leg 20 is in the suspended state. The preset pressure can be set to different values ​​according to different types of cooking utensils.

[0138] In some embodiments, after determining the telescopic distance of each support leg 20 according to the tilt angle, the method further includes:

[0139] When the extension distance of the support leg 20 is greater than the preset distance, a prompt is given that the leveling range is exceeded and the placement of the cooking utensil is changed. The preset distance may be the maximum extension distance of the support leg 20. At this time, the extension distance of the support leg 20 exceeds the extension setting value, making it difficult to level the cooking utensil 1. The control device 40 sends a prompt signal to prompt the placement of the cooking utensil 1 to change, so as to avoid the cooking utensil 1 being difficult to level at a certain placement position.

[0140] In some embodiments, the control method further includes: enabling the support leg 20 to complete the telescopic action within a preset time, and the telescopic process of the support leg 20 is acceleration, uniform acceleration, deceleration, uniform speed, acceleration and deceleration, uniform deceleration, and deceleration.

[0141] like Fig. 9 and Fig.10 As shown, during the extension and retraction process of the support leg 20:

[0142] The acceleration phase of the support leg 20 is a time period T1, during which the extension and retraction speed of the support leg 20 increases, the acceleration increases, and the first-order derivative of the acceleration with respect to time remains unchanged.

[0143] The uniform acceleration stage of the support leg 20 is a time period T2, during which the extension and retraction speed of the support leg 20 increases, the acceleration is constant, and the first-order derivative of the acceleration with respect to time is zero.

[0144] The deceleration stage of the support leg 20 is a time period T3, during which the extension and retraction speed of the support leg 20 increases, the acceleration decreases, and the first-order derivative of the acceleration with respect to time remains unchanged.

[0145] The uniform speed stage of the support leg 20 is the time period T4. During this time period, the extension and retraction speed of the support leg 20 remains unchanged, the acceleration is zero, and the first-order derivative of the acceleration with respect to time is zero.

[0146] The acceleration and deceleration stage of the support leg 20 is a time period T5, during which the extension and retraction speed of the support leg 20 decreases, the acceleration increases, and the first-order derivative of the acceleration with respect to time remains unchanged.

[0147] The uniform deceleration stage of the support leg 20 is the T6 time period, during which the extension and retraction speed of the support leg 20 decreases, the acceleration is constant, and the first-order derivative of the acceleration with respect to time is zero.

[0148] The deceleration stage of the support leg 20 is the T7 time period. During this time period, the extension and retraction speed of the support leg 20 decreases, the acceleration decreases, and the first-order derivative of the acceleration with respect to time remains unchanged.

[0149] It can be understood that during the movement of the supporting leg 20, its extension and retraction speed starts to accelerate from an initial speed of zero, wherein the time period of the accelerated movement is T3+T2+T1. After the speed increases to the maximum speed at the end of the T3 time period, it starts to move at a uniform speed at the maximum speed, wherein the time period of the uniform movement is T4. At the end of the T4 time period, the supporting leg 20 starts to decelerate with the maximum speed as the initial speed, and its speed begins to gradually decrease and eventually decreases to zero to stop the movement, thereby completing the extension and retraction process of the supporting leg 20, wherein the time period of the deceleration movement of the supporting leg 20 is T5+T6+T7. The acceleration movement time period of the supporting leg 20 is equal to the deceleration movement time period, that is, T3+T2+T1 is equal to T5+T6+T7.

[0150] Among them, during the accelerated movement of the support leg 20, its acceleration may first increase, then remain unchanged, and finally decrease, that is, the support leg 20 performs accelerated movement in the T1 time period, uniformly accelerated movement in the T2 time period, and finally decelerated movement in the T3 time period. When the support frame is in accelerated movement, its acceleration increases, so that the rate of increase of its speed is also accelerated accordingly, until the acceleration increases to the maximum, and thereafter (that is, in the T2 time period), the speed of the support leg 20 increases the fastest. After entering the T3 time period, the acceleration gradually decreases, and the speed of the support leg 20 is still increasing, but the rate of increase of the speed decreases, until the acceleration is reduced to zero, and the speed of the support leg 20 no longer increases. Thereafter, the support leg 20 begins to move uniformly at the maximum speed (that is, enters the time period T4).

[0151] Correspondingly, the deceleration process of the support leg 20 is the same as the acceleration process, that is, during the deceleration process of the support leg 20, its acceleration may first increase, then remain unchanged, and finally decrease, that is, the support leg 20 performs acceleration and deceleration in the T5 time period, uniform deceleration in the T6 time period, and finally deceleration and deceleration in the T7 time period. When the support frame is accelerating and decelerating, its acceleration increases, so that the rate of decrease of its speed is also accelerated accordingly, until the acceleration increases to the maximum, and then the speed of the support leg 20 decreases the fastest in the time period thereafter (that is, in the T6 time period). After entering the T7 time period, the acceleration gradually decreases, and the speed of the support leg 20 is still decreasing, but the rate of decrease of the speed gradually decreases, until the acceleration is reduced to zero, the speed of the support leg 20 will also be zero, and the support leg 20 stops moving, thereby completing the extension and retraction of the support leg 20.

[0152] Among them, during the S-curve movement of the supporting foot, its speed curve is symmetrical, that is, see Fig. 9 As shown, the time period T1 of the acceleration movement of the supporting foot is equal to the time period T7 of the deceleration movement, the time period T2 of the uniform acceleration movement of the supporting foot is equal to the time period T6 of the uniform deceleration movement, and the time period T3 of the deceleration movement of the supporting foot is equal to the time period T5 of the acceleration and deceleration movement. In addition, the acceleration process of the supporting foot 20 is symmetrical to the acceleration and deceleration process, that is, the time period T1 of the acceleration movement of the supporting foot 20 is equal to the time period T3 of the deceleration movement. The acceleration and deceleration process is symmetrical to the deceleration and deceleration process, that is, the time period T5 of the acceleration movement of the supporting foot 20 is equal to the time period T7 of the deceleration movement. In this way, the time periods T1, T3, T5, and T7 of the supporting foot 20 are all equal during the above-mentioned movement process.

[0153] By making the support foot 20 move according to the above process, the speed change of the support foot 20 can be made to be close to an S-shaped curve, so that the extension and retraction process of the support foot 20 can be smoother and gentler, and the smoothness of the extension and retraction of the support foot 20 can be effectively improved, and the impact force of the movement of the support foot 20 can be reduced. The stability of the leveling process of the cooking utensil can be effectively increased, and the impact force of the support foot 20 during the extension and retraction process can be effectively reduced or avoided, which may cause the food in the shell to shake due to excessive impact force, and then cause the food to overflow into the cavity of the shell.

[0154] Based on the above embodiment, the extension and retraction speed of the support leg 20 in each time period can be determined by the following formula:

[0155]

[0156] Among them, V tis the extension and retraction speed of the supporting foot at time t, T1 is the time period of the supporting foot's accelerated motion, T2 is the time period of the supporting foot's uniformly accelerated motion, t1 is the moment when the supporting foot switches from accelerated motion to uniformly accelerated motion, t2 is the moment when the supporting foot switches from uniformly accelerated motion to decelerated motion, t3 is the moment when the supporting foot switches from decelerated motion to uniform speed motion, t4 is the moment when the supporting foot switches from uniform speed motion to accelerated and decelerated motion, t5 is the moment when the supporting foot switches from accelerated and decelerated motion to uniform decelerated motion, t6 is the moment when the supporting foot switches from uniformly decelerated motion to decelerated and decelerated motion, t7 is the moment when the supporting foot stops decelerating, τ k =tt k-1 (k=1, 2, 3, 4, 5, 6, 7), J is the jerk of the supporting leg during accelerated motion.

[0157] The acceleration J can be determined by the following formula:

[0158]

[0159] in, V max is the speed of the support leg 20 in the uniform motion stage, which is a known number and can be determined by the driving device, a max is the maximum acceleration of the support foot 20, which is also a known number and can be determined by the drive device, l is the telescopic distance of the supporting foot 20, T f is the total extension and retraction time of the support leg 20, and its value is a known number, which is a value preset in advance by the control device, that is, T f =T 7 + T 6 +T 5 +T 4 +T 3 +T 2 +T 1 = 4T 1 +2T 2 +T 4 。

[0160] Among them, the various time points of the supporting foot movement t k =T k +Tk-1 +T k-2 +…+ T 1 , ( k =1, 2, 3, 4, 5, 6, 7) ， Also t 1 =T 1 ，t 2 =T 1 +T 2 ，t 3 =T 3 +T 2 +T 1 ，t 4 =T 4 +T 3 +T 2 +T 1 ，t 5 =T 5 +T 4 +T 3 +T 2 +T 1 ，t 6 =T 6 +T 5 +T 4 +T 3 +T 2 +T 1 ，t 7 =T 7 + T 6 +T 5 +T 4 +T 3 +T2 +T 1 。

[0161] Through the above formula, the total extension and retraction time of the support leg is determined. T f Afterwards, the speed of the supporting foot in each movement time period can be determined so that the movement speed of the supporting foot presents an S-shaped curve, thereby improving the smoothness of the supporting foot movement and reducing the impact force of the supporting foot movement, thereby effectively improving the stability of the cooking appliance during the leveling process.

[0162] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0163] In the description of the present application, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0164] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, it can also be a detachable connection, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can make the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cooking utensil, characterized in that: include: A housing (10), wherein the housing (10) has a cooking cavity; a plurality of supporting feet (20), the supporting feet (20) being located at the bottom of the shell (10), and the supporting feet (20) being telescopically arranged at the bottom of the shell (10); a driving device (30), the driving device (30) being connected to the plurality of supporting legs (20), the driving device (30) being used to drive the supporting legs (20) to extend and retract; a control device (40), the control device (40) being electrically connected to the drive device (30), the control device (40) being used to determine a reference point and an adjustment point according to the acquired inclination angle between the bottom of the shell (10) and a horizontal plane, the reference point being the highest vertical position among the positions where each of the support legs (20) is connected to the bottom of the shell (10), and the adjustment point being the position below the reference point among the positions where each of the support legs (20) is connected to the bottom of the shell (10); The control device (40) is further used to determine the angle between the line connecting the reference point and each of the adjustment points and the horizontal plane, and to determine the corresponding telescopic distance of the supporting foot (20) according to each of the angles; The control device (40) is further used to control the driving device (30) to drive the supporting foot (20) to extend and retract according to the extension distance, so as to adjust the bottom of the housing (10) to a horizontal state; The control device (40) is further used to determine the telescopic speed of the corresponding support leg (20) according to the preset telescopic time and each telescopic distance, and to control the corresponding support legs (20) to move simultaneously according to the telescopic speed, so that the telescopic time of each support leg (20) is equal.

2. The cooking device according to claim 1, characterized in that: The invention also comprises a first detection device (60), the first detection device (60) being located at the bottom of the shell (10), the first detection device (60) being electrically connected to the control device (40), and the first detection device (60) being used to detect the inclination angle between the bottom of the shell (10) and the horizontal plane, so that the control device (40) controls the driving device (30) to drive the supporting legs (20) to extend and retract according to the inclination angle, so as to adjust the bottom of the shell (10) to a horizontal state.

3. The cooking device according to claim 1 or 2, characterized in that: It also includes a second detection device, and each of the supporting feet (20) is connected to the second detection device; The second detection device is electrically connected to the control device (40), and is used to detect the pressure of the support foot (20) and transmit the pressure to the control device (40). The control device (40) is used to send a prompt signal when the pressure is lower than a preset pressure, so as to prompt the user to change the placement position of the cooking utensil.

4. The cooking device according to claim 1 or 2, characterized in that: The control device (40) is also used to send out a prompt signal when the extension distance of the support foot (20) is greater than a preset distance, so as to prompt the user to change the placement position of the cooking utensil.

5. A cooking utensil leveling control method, used for leveling the cooking utensil according to any one of claims 1 to 4, characterized in that: The method comprises: Obtaining an inclination angle between the bottom of a shell of the cooking appliance and a horizontal plane; Determining the telescopic distance of each supporting leg according to the tilt angle; The driving device is controlled to drive the supporting legs to extend and retract according to the telescopic distance, so as to adjust the bottom of the shell to a horizontal state.

6. The leveling control method according to claim 5, characterized in that: Determining the telescopic distance of each supporting leg according to the inclination angle includes: Determine a reference point and an adjustment point according to the inclination angle, wherein the reference point is the highest vertical position among the positions where each of the supporting legs is connected to the bottom of the shell, and the adjustment point is the position where each of the supporting legs is connected to the bottom of the shell lower than the reference point; The angle between the horizontal plane and the line connecting the reference point and each of the adjustment points is determined, and the corresponding telescopic distance of the supporting foot is determined according to each of the angles.

7. The leveling control method according to claim 6, characterized in that: Determining the corresponding telescopic distance of the supporting foot according to each of the included angles includes: The telescopic distance of each supporting leg is determined according to the following formula: Among them, the L is the distance between the reference point and the adjustment point, is the angle between the line between the reference point and the adjustment point and the horizontal plane, and l is the telescopic distance of the supporting foot corresponding to the angle.

8. The leveling control method according to any one of claims 5 to 7, characterized in that: Before obtaining the inclination angle between the bottom of the housing of the cooking appliance and the horizontal plane, the control method further includes: Obtaining the pressure of each of the supporting feet; judging whether the supporting foot is in a suspended state according to the pressure; When the supporting feet are in a suspended state, a prompt is provided to change the placement position of the cooking utensil.

9. The leveling control method according to claim 8, characterized in that: The determining whether the supporting foot is in a suspended state by the pressure includes: When the pressure is less than the preset pressure, the supporting foot is in a suspended state.

10. The leveling control method according to any one of claims 5 to 7, characterized in that: After determining the telescopic distance of each supporting leg according to the inclination angle, the method further includes: When the telescopic distance of the supporting legs is greater than a preset distance, a prompt is given that the leveling range is exceeded and the placement position of the cooking utensil is changed.

11. The leveling control method according to any one of claims 5 to 7, characterized in that: The control method further comprises: The supporting foot is made to complete the telescopic action within a preset time, and the telescopic process of the supporting foot is sequentially accelerated, uniformly accelerated, decelerated, uniformly accelerated, decelerated, uniformly decelerated, and decelerated.

12. The leveling control method according to claim 11, characterized in that: The step of making the supporting foot complete the telescopic action within a preset time, and making the telescopic process of the supporting foot sequentially include acceleration, uniform acceleration, deceleration, uniform speed, acceleration and deceleration, uniform deceleration, and deceleration, including: The extension and retraction speed of the support leg is determined by the following formula: Among them, the V t is the extension and retraction speed of the supporting foot at time t, T1 is the time period of the accelerated motion of the supporting foot, T2 is the time period of the uniformly accelerated motion of the supporting foot, t1 is the moment when the supporting foot switches from the accelerated motion to the uniformly accelerated motion, t2 is the moment when the supporting foot switches from the uniformly accelerated motion to the decelerated motion, t3 is the moment when the supporting foot switches from the decelerated motion to the uniform motion, t4 is the moment when the supporting foot switches from the uniform motion to the accelerated and decelerated motion, t5 is the moment when the supporting foot switches from the accelerated and decelerated motion to the uniformly decelerated motion, t6 is the moment when the supporting foot switches from the uniformly decelerated motion to the decelerated and decelerated motion, t7 is the moment when the deceleration of the supporting foot stops, and τ k =tt k-1 , where k=1, 2, 3, 4, 5, 6, 7, and J is the acceleration of the supporting foot during accelerated motion.

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