Cutting board and cutter degerming machine, pose control method and device thereof and computer equipment

Abstract

The invention relates to a cutting board and cutter degerming machine, a pose control method and device thereof and computer equipment, and the method comprises the steps: obtaining the actual center-of-gravity position of the cutting board and cutter degerming machine when an object is detected to be put in; determining a preset gravity center safety area; and if the actual center-of-gravity position is not in the preset center-of-gravity safety area, adjusting the posture of the cutting board cutter degerming machine to adjust the actual center-of-gravity position until the adjusted actual center-of-gravity position is in the preset center-of-gravity safety area. In the whole process, when an object such as a cutting board or a cutter is put into the cutting board and cutter degerming machine, the actual gravity center position of the cutting board and cutter degerming machine is automatically obtained, and the posture of the cutting board and cutter degerming machine is automatically adjusted, so that the adjusted actual gravity center position is located in a preset gravity center safety area; therefore, the stability of the cutting board cutter degerming machine can be remarkably improved, and the falling risk of the cutting board cutter degerming machine is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of smart home appliances, and in particular to a cutting board and knife sterilizing machine and a posture control method, device, computer equipment, storage medium and computer program product thereof. Background Art

[0002] In modern home kitchen environments, as people pay more and more attention to food safety and hygiene, kitchenware disinfection has become an important part of the daily cleaning process. Traditional cleaning methods are gradually being replaced by advanced dishwashers and high-efficiency disinfectants. Especially when handling cutting boards and knives, separation of raw and cooked food has become a universal hygiene principle. However, even after a simple water rinse, harmful bacteria and viruses may still remain on the surface of kitchenware, which not only affects the hygienic quality of food, but also directly threatens the health and safety of family members. Therefore, as an emerging kitchen equipment, the importance of cutting board and knife sterilizer is becoming increasingly prominent. It can effectively kill microorganisms on kitchenware and ensure food safety.

[0003] However, the current cutting board and knife sterilizers on the market face the challenge of space utilization. The design with a large base area often occupies valuable kitchen operating space, affecting the overall appearance and practicality of the kitchen. For this reason, products with a small base area have gradually become the mainstream of the market. They are more compact and easy to place. However, the small base area design also brings new problems - increased risk of tipping. Especially when loading heavy cutting boards or placing knives together, due to the uneven distribution of the center of gravity, the product is easy to lose balance and tip over.

[0004] Therefore, there is currently a need for a cutting board and knife sterilizer that can improve stability and reduce the risk of tipping, as well as a method, device, computer equipment, storage medium and computer program product for controlling its position. Summary of the invention

[0005] Based on this, it is necessary to address the technical problem that traditional chopping board and knife sterilizers are prone to tipping over, and to provide a chopping board and knife sterilizer that can improve stability and reduce the risk of tipping over, as well as a posture control method, device, computer equipment, storage medium and computer program product.

[0006] In a first aspect, the present application provides a method for controlling the position of a cutting board and knife sterilizing machine. The method comprises:

[0007] When an object is detected to be placed in the machine, the actual center of gravity of the cutting board and knife sterilizer is obtained;

[0008] Determine the preset center of gravity safety area;

[0009] If the actual center of gravity position is not within the preset center of gravity safety area, the posture of the cutting board and knife sterilizer is adjusted to adjust the actual center of gravity position until the adjusted actual center of gravity position is within the preset center of gravity safety area.

[0010] In one embodiment, if the actual center of gravity position is not in the preset center of gravity safety area, adjusting the posture of the cutting board and knife sterilizer to adjust the actual center of gravity position until the adjusted actual center of gravity position is in the preset center of gravity safety area includes:

[0011] If the actual center of gravity position is not within the preset center of gravity safety area, adjust the height of the bottom support of the cutting board and knife sterilizer so that the actual center of gravity position is adjusted until the actual center of gravity position is within the preset center of gravity safety area.

[0012] In one embodiment, the above-mentioned cutting board and knife sterilizing machine posture control method further includes:

[0013] If the actual center of gravity position is in the preset center of gravity safety area, delaying the preset time to determine whether there are other objects put in;

[0014] If yes, return to the step of obtaining the actual center of gravity position of the cutting board and knife sterilizer when the object is detected to be placed in the cutting board and knife sterilizer;

[0015] If not, the adjustment ends.

[0016] In one embodiment, determining the preset center of gravity safety area includes:

[0017] Obtain the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support in the cutting board and knife sterilizer;

[0018] According to the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support in the cutting board and knife sterilizer, a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in the machine is obtained.

[0019] In one embodiment, obtaining a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein according to the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support member in the cutting board and knife sterilizer comprises:

[0020] According to the overall height of the cutting tool sterilizer and the coordinates of the bottom support in the cutting tool sterilizer, determine the coordinates of the vertical point in the lower half of the cutting tool sterilizer that corresponds to the coordinates of the bottom support in the cutting tool sterilizer, wherein the lower half is the portion close to one side of the bottom support in the cutting tool sterilizer;

[0021] Based on the coordinates of the bottom support in the cutting board and knife sterilizer and the coordinates of the vertical point, a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in the machine is obtained.

[0022] In one embodiment, based on the coordinates of the bottom support member in the cutting board and knife sterilizer and the coordinates of the vertical point, obtaining the preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein comprises:

[0023] Obtaining a preset safety factor, where the preset safety factor is a number less than 1;

[0024] Determine the enclosed area of ​​the bottom support coordinates and the vertical point coordinates in the cutting board and knife sterilizing machine;

[0025] The enclosed area is reduced according to the preset safety factor to obtain a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in the machine.

[0026] In one embodiment, the enclosed area is reduced according to the preset safety factor to obtain a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein, including:

[0027] Adjust the coordinates of the bottom support member in the cutting board and knife sterilizing machine and the coordinates of the vertical point according to the preset safety factor to obtain adjusted coordinate points;

[0028] Calculate the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point, and the maximum y-coordinate point among the adjusted coordinate points;

[0029] According to the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point and the maximum y-coordinate point, a preset center of gravity safety area of ​​the cutting board and knife sterilizer is constructed when no object is placed in the machine.

[0030] In a second aspect, the present application also provides a position control device for a cutting board and knife sterilizing machine. The device comprises:

[0031] A detection module is used to obtain the actual center of gravity position of the cutting board and knife sterilizer when an object is detected to be placed in the machine;

[0032] The control module is used to determine a preset center of gravity safety area; if the actual center of gravity position is not in the preset center of gravity safety area, adjust the actual center of gravity position so that the adjusted actual center of gravity position is in the preset center of gravity safety area.

[0033] In the third aspect, the present application also provides a chopping board knife sterilizer, which includes a chopping board knife sterilizer body and a control device, wherein the control device is connected to the chopping board knife sterilizer body, and the control device uses the above-mentioned method to adjust the posture of the chopping board knife sterilizer body.

[0034] In a fourth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0035] When an object is detected to be placed in the machine, the actual center of gravity of the cutting board and knife sterilizer is obtained;

[0036] Determine the preset center of gravity safety area;

[0037] If the actual center of gravity position is not within the preset center of gravity safety area, the posture of the cutting board and knife sterilizer is adjusted to adjust the actual center of gravity position until the adjusted actual center of gravity position is within the preset center of gravity safety area.

[0038] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0039] When an object is detected to be placed in the machine, the actual center of gravity of the cutting board and knife sterilizer is obtained;

[0040] Determine the preset center of gravity safety area;

[0041] If the actual center of gravity position is not within the preset center of gravity safety area, the posture of the cutting board and knife sterilizer is adjusted to adjust the actual center of gravity position until the adjusted actual center of gravity position is within the preset center of gravity safety area.

[0042] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0043] When an object is detected to be placed in the machine, the actual center of gravity of the cutting board and knife sterilizer is obtained;

[0044] Determine the preset center of gravity safety area;

[0045] If the actual center of gravity position is not within the preset center of gravity safety area, the posture of the cutting board and knife sterilizer is adjusted to adjust the actual center of gravity position until the adjusted actual center of gravity position is within the preset center of gravity safety area.

[0046] The above-mentioned cutting board and knife sterilizer and its posture control method, device, computer equipment, storage medium and computer program product, when detecting that an object is placed in, obtain the actual center of gravity position of the cutting board and knife sterilizer; determine the preset center of gravity safety area; if the actual center of gravity position is not in the preset center of gravity safety area, adjust the posture of the cutting board and knife sterilizer to adjust the actual center of gravity position until the adjusted actual center of gravity position is in the preset center of gravity safety area. During the whole process, when an object such as a cutting board or a knife is placed in the cutting board and knife sterilizer, the actual center of gravity position of the cutting board and knife sterilizer is automatically obtained, and the posture of the cutting board and knife sterilizer is automatically adjusted so that the adjusted actual center of gravity position is in the preset center of gravity safety area, which can significantly improve the stability of the cutting board and knife sterilizer and reduce the risk of its tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A diagram of an application environment of a method for controlling the position and posture of a cutting board and knife sterilizing machine in one embodiment;

[0048] Figure 2 It is a schematic flow chart of a method for controlling the posture of a cutting board and knife sterilizing machine in one embodiment;

[0049] Figure 3 It is a schematic diagram of the telescopic support structure;

[0050] Figure 4 It is a schematic flow chart of a method for controlling the posture of a cutting board and knife sterilizing machine in another embodiment;

[0051] Figure 5 This is a schematic diagram of the preset center of gravity safety area;

[0052] Figure 6 It is a flow chart of a method for controlling the posture of a cutting board and knife sterilizing machine in a specific application example;

[0053] Figure 7 It is a structural block diagram of a position control device for a cutting board and knife sterilizing machine in one embodiment;

[0054] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] In order to explain in detail the technical principles and effects of the position control method of the cutting board and knife sterilizer of the present application, the conventional technology will first be further introduced below.

[0057] In order to solve the problem of easy tipping in traditional technology, two solutions have been proposed. Solution one is wall-mounted, including pasted wall-mounted and embedded wall-mounted. Although the pasted wall-mounted type saves space, there is a risk of falling in a humid environment; although the embedded wall-mounted type is more stable, it is inconvenient to replace and maintain, and the kitchen wall needs to be modified, which may destroy the original decoration style. Solution two is to increase the bottom weight. By increasing the bottom weight, the product will be more stable and reduce the possibility of tipping, but the overall weight will increase significantly, resulting in inconvenience in moving and placing, especially when it needs to be moved frequently. In view of the fact that the solution for further improvement of the traditional technical solution still has the above-mentioned defects, the present application proposes to automatically adjust the position of the cutting board and knife sterilizer to change the center of gravity of the cutting board and knife sterilizer, so as to significantly reduce its tipping risk.

[0058] Based on the above technical principles, the position control method of the cutting board and knife sterilizing machine provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The control device is built into the body of the cutting board and knife sterilizer, and is used to adjust the posture of the cutting board and knife sterilizer body. The entire cutting board and knife sterilizer includes a fuselage 1, a control device 2, a center of gravity sensing device 3, a chassis 4, and a telescopic support leg 5. The control device 2 executes the posture control method of the cutting board and knife sterilizer of the present application to drive the telescopic support leg 5 to extend and retract, thereby adjusting the posture of the cutting board and knife sterilizer to significantly reduce the risk of tipping over of the cutting board and knife sterilizer. Specifically, when an object is placed in, the control device 2 receives the center of gravity sensing signal sent by the center of gravity sensing device 3, obtains the actual center of gravity position of the cutting board and knife sterilizer, and determines the preset center of gravity safety area; if the actual center of gravity position is not in the preset center of gravity safety area, the posture of the cutting board and knife sterilizer is adjusted to adjust the actual center of gravity position until the adjusted actual center of gravity position is in the preset center of gravity safety area.

[0059] In one embodiment, Figure 2 As shown, a method for controlling the position and posture of a cutting board and knife sterilizing machine is provided. Figure 1 The control device 2 in the embodiment is taken as an example to illustrate, and the method comprises the following steps:

[0060] S200: When it is detected that an object is placed in, the actual center of gravity position of the cutting board and knife sterilizer is obtained.

[0061] The control device can detect whether there is an object placed (inserted) at the storage port of the cutting board and knife sterilizer by means of a sensor. Specifically, the object here can be a cutting tool or a cutting board, that is, when the control device detects that the cutting tool or cutting board is placed in the cutting board and knife sterilizer for sterilization and disinfection, the actual center of gravity position of the entire cutting board and knife sterilizer at this time is obtained. Specifically, the actual center of gravity position of the cutting board and knife sterilizer at this time can be detected by the center of gravity sensor.

[0062] S400: Determine a preset center-of-gravity safety area.

[0063] The preset center of gravity safety area is a pre-set area, which can specifically be the center of gravity safety area corresponding to the entire chopping board and knife sterilizer when no objects are placed in it. As long as the actual center of gravity position of the chopping board and knife sterilizer is in the preset center of gravity safety area, the chopping board and knife sterilizer can basically remain stable and the risk of tipping over is greatly reduced.

[0064] Furthermore, the stability of an object depends on its ability to resist the tipping moment, which is related to the object's center of gravity and the support area. The projection of its center of gravity must fall on the support surface to remain stable. The tipping moment M can be expressed as follows: Among them, F is the external force, and d is the distance from the point of force application to the fulcrum. When there is no other external force, gravity is the only external force F, and the fulcrum is the point where the four supporting feet touch the ground. It can be seen from the formula of the tipping moment that the height of the center of gravity also affects the stability of the object. The distance d between the center of gravity and the fulcrum of an object with a high center of gravity is larger, and the tipping moment M is larger. The distance d between the center of gravity and the fulcrum of an object with a low center of gravity is smaller, and the tipping moment is smaller. Therefore, the center of gravity is usually located in the lower half of the object to keep the object stable. It can be seen that the preset center of gravity safety area can generally be set in the lower half of the cutting board and knife sterilizer.

[0065] S600: If the actual center of gravity position is not in the preset center of gravity safety area, the posture of the cutting board and knife sterilizer is adjusted to adjust the actual center of gravity position until the adjusted actual center of gravity position is in the preset center of gravity safety area.

[0066] If the actual center of gravity position is not in the preset center of gravity safety area, it indicates that the entire cutting board knife sterilizer is very likely to fall over at this time. At this time, it is necessary to adjust the position of the cutting board knife sterilizer to adjust its actual center of gravity position so that the adjusted actual center of gravity position is in the preset center of gravity safety area. Specifically, adjusting the position of the cutting board knife sterilizer here can specifically include adjusting the height of the cutting board knife sterilizer, and / or adjusting the inclination angle and direction of the cutting board knife sterilizer. Preferably, you can choose to directly adjust the height of the cutting board knife sterilizer, specifically by adjusting the height of the bottom support of the cutting board knife sterilizer to adjust the height of the entire cutting board knife sterilizer, for example, you can control the extension and retraction of the bottom support to achieve height adjustment, or adjust the height and inclination angle by adjusting the height of the support at different positions. Further, here the adjustment is carried out by continuous trial and error adjustment, and the amount of height adjustment is continuously tried to make the actual center of gravity position after the final adjustment be in the preset center of gravity safety area.

[0067] The above-mentioned method for controlling the posture of the cutting board and knife sterilizer, when detecting that an object is placed in, obtains the actual center of gravity position of the cutting board and knife sterilizer; determines the preset center of gravity safety area; if the actual center of gravity position is not in the preset center of gravity safety area, adjusts the posture of the cutting board and knife sterilizer to adjust the actual center of gravity position until the adjusted actual center of gravity position is in the preset center of gravity safety area. During the whole process, when an object such as a cutting board or a knife is placed in the cutting board and knife sterilizer, the actual center of gravity position of the cutting board and knife sterilizer is automatically obtained, and the posture of the cutting board and knife sterilizer is automatically adjusted so that the adjusted actual center of gravity position is in the preset center of gravity safety area, which can significantly improve the stability of the cutting board and knife sterilizer and reduce the risk of its tipping over.

[0068] In one embodiment, if the actual center of gravity position is not in the preset center of gravity safety area, adjusting the posture of the cutting board and knife sterilizer to adjust the actual center of gravity position until the adjusted actual center of gravity position is in the preset center of gravity safety area includes:

[0069] If the actual center of gravity position is not within the preset center of gravity safety zone, adjust the height of the bottom support of the cutting board and knife sterilizer to adjust the actual center of gravity position until the adjusted actual center of gravity position is within the preset center of gravity safety zone.

[0070] like Figure 1 As shown, the bottom support of the cutting board and knife sterilizer is arranged at the bottom of the entire cutting board and knife sterilizer. Generally, 4 bottom support members can be arranged. Of course, 3 or more bottom support members can be arranged according to the actual situation. The bottom support member is a height-adjustable component, which can be adjusted in height by telescopic means. Figure 3 As shown, the entire telescopic support member includes an electric push rod 6, a displacement sensor 7 and a support portion 8, wherein the electric push rod 6 includes a push rod 601 and a fixed flange 602. When extended, the push rod 610 moves together with the fixed flange 620. The schematic diagram of extension and contraction is shown in FIG. Figure 3 Specifically, in actual applications, when it is found that the actual center of gravity position is not in the preset center of gravity safety area, the bottom support of the cutting board and knife sterilizer can be controlled to adjust the height. Specifically, the actual center of gravity position can be slowly adjusted back to the preset center of gravity safety area through a small trial and error adjustment method.

[0071] In one embodiment, the position control of the cutting board and knife sterilizing machine further includes:

[0072] If the actual center of gravity position is in the preset center of gravity safety area, the preset time is delayed to determine whether there are other objects placed in; if so, the process returns to the step of obtaining the actual center of gravity position of the cutting board and knife sterilizer when an object is detected to be placed in; if not, the adjustment is terminated.

[0073] If the actual center of gravity position is in the preset center of gravity safety area, it means that the risk of the entire chopping board and knife sterilizer tipping over is low at this time, and there is no need to adjust its center of gravity position. After a certain delay, continue to determine whether there are any objects placed in. If so, it is necessary to return to the step of obtaining the actual center of gravity position of the chopping board and knife sterilizer when the object is detected to be placed in, and start a new round of posture control.

[0074] In one embodiment, if Figure 4 As shown, S400 includes:

[0075] S420: Obtain the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support parts in the cutting board and knife sterilizer.

[0076] The overall height z of the cutting board and knife sterilizer can be directly obtained based on the external dimension parameters of the cutting board and knife sterilizer. The coordinates of the bottom supports in the cutting board and knife sterilizer refer to the coordinates of each bottom support in three-dimensional space. Based on the different numbers of bottom supports, it is necessary to obtain the coordinates of each bottom support. Generally speaking, the bottom supports of the cutting board and knife sterilizer are arranged at the bottom in a regularly distributed manner. Generally, there are 3 or 4 bottom supports. Here, it is necessary to determine the coordinates of each bottom support based on the selected spatial coordinate origin.

[0077] S440: According to the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support in the cutting board and knife sterilizer, a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in the cutting board and knife sterilizer is obtained.

[0078] The lower half of the entire cutting board and knife sterilizer is determined based on the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support in the cutting board and knife sterilizer, and a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed is delineated in the lower half. Further, the lower half, i.e., the area with a coordinate less than 0.5z in the Z-axis direction, takes into account the specific redundant safety space, and delineates a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed.

[0079] In one embodiment, according to the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support member in the cutting board and knife sterilizer, obtaining the preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein includes:

[0080] According to the overall height of the chopping board knife sterilizer and the coordinates of the bottom support in the chopping board knife sterilizer, determine the vertical point coordinates in the lower half of the chopping board knife sterilizer that correspond to the coordinates of the bottom support in the chopping board knife sterilizer, the lower half is the part close to one side of the bottom support in the chopping board knife sterilizer; based on the coordinates of the bottom support and the vertical point coordinates in the chopping board knife sterilizer, obtain the preset center of gravity safety area of ​​the chopping board knife sterilizer when no objects are placed in it.

[0081] Since the cutting board and knife sterilizer is based on the bottom support to maintain stability, the bottom support is a force-bearing part of its gravity, so here we only need to analyze the coordinates of the bottom support in the cutting board and knife sterilizer and the corresponding vertical coordinates in the lower half to determine a center of gravity safety area. Specifically, taking the cutting board and knife sterilizer with an overall height of z and 4 bottom supports as an example, the coordinates of the 4 bottom supports are (x1, y1, 0), (x2, y2, 0), (x3, y3, 0), (x4, y4, 0), and the corresponding vertical point coordinates in the lower half are (x1, y1, 0.5z), (x2, y2, 0.5z), (x3, y3, 0.5z), (x4, y4, 0.5z). Based on the area enclosed by these 8 points, the preset center of gravity safety area of ​​the cutting board and knife sterilizer is constructed when no object is placed in it.

[0082] In one embodiment, based on the coordinates of the bottom support and the vertical point coordinates in the cutting board and knife sterilizer, obtaining the preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein includes:

[0083] Obtain a preset safety factor, which is a number less than 1; determine the enclosed area of ​​the bottom support coordinates and the vertical point coordinates in the cutting board and knife sterilizer; reduce the enclosed area according to the preset safety factor to obtain the preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in it.

[0084] In this embodiment, a preset safety factor is further introduced as a safety redundancy for anti-dumping. The preset safety factor A is a number less than 1, which can be set according to actual conditions. Preferably, the preset safety factor A can be 0.8. That is, firstly, based on the coordinates of the bottom support and the vertical point coordinates in the cutting board and knife sterilizer, the enclosed area is determined, and then the enclosed area is reduced based on the preset safety factor to obtain the preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed.

[0085] In one embodiment, the enclosed area is reduced according to the preset safety factor, and the preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein includes:

[0086] The coordinates of the bottom support and the vertical point in the chopping board and knife sterilizer are adjusted according to the preset safety factor to obtain the adjusted coordinate points; the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point and the maximum y-coordinate point in the adjusted coordinate points are calculated; and according to the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point and the maximum y-coordinate point, a preset center of gravity safety area of ​​the chopping board and knife sterilizer is constructed when no objects are placed in it.

[0087] To explain in detail the specific confirmation process of the preset center of gravity safety area in the above embodiment, a specific application example will be used below, and combined with Figure 5 Expand Description.

[0088] like Figure 5 As shown in the figure, for a relatively regular cutting board and knife sterilizer, it can be simplified into a rectangular parallelepiped, and its support area is the quadrilateral area surrounded by the four supporting legs at the bottom. Assuming that the overall height of the cutting board and knife sterilizer is z, the coordinates of the four supporting legs are (x1, y1, 0), (x2, y2, 0), (x3, y3, 0), (x4, y4, 0), and in order to ensure stability, a safety factor A is introduced to reduce the center of gravity safety area. The safety factor A can be selected according to the actual situation. It is usually 0.8. Then the center of gravity safety area Q is (x1*(2-A), y1*(2-A), 0), (x The area enclosed by the eight coordinates: (x2*A, y2*(2-A), 0), (x3*A, y3*A, 0), (x4*(2-A), y4*A, 0), (x1*(2-A), y1*(2-A), 0.5z*A), (x2*A, y2*(2-A), 0.5z*A), (x3*A, y3*A, 0.5z*A), (x4*(2-A), y4*A, 0.5z*A), that is Figure 5 It should be noted that the calculation of *(2-A) in the above coordinates is based on Figure 5 For the coordinate origin in the lower left corner, reducing the center of gravity safety area means that the X coordinate and / or Y coordinate of some points need to be enlarged. The actual calculation method of *(2-A) is *(1+1-A), which is simply represented as *(2-A).

[0089] Assume that among the four supporting legs,

[0090] Minimum x coordinate ;

[0091] Maximum x coordinate ;

[0092] Minimum y coordinate ;

[0093] Maximum y coordinate ;

[0094] The center of gravity safety area can be expressed as:

[0095]

[0096] For a mass For an object with a center of gravity of ), and the overall center of gravity G of n objects ( ) is calculated as follows:

[0097]

[0098]

[0099]

[0100] like , it means that the overall center of gravity is within the center of gravity safety area; if , it means that the overall center of gravity deviates from the safe area of ​​the center of gravity.

[0101] like Figure 6 As shown, in a specific application example, when no cutting board or knife is placed, the center of gravity sensing device will detect the center of gravity position of the cutting board and knife sterilizer and generate a signal to transmit to the control device. The control device generates a preset center of gravity safety area based on these signals. As long as the overall center of gravity is within the safety area, there is no danger of the cutting board and knife sterilizer tipping over, and the control device does not issue a signal command to the outside at this time. When a cutting board or knife is placed, the center of gravity sensing device will detect the overall center of gravity position at this time again, and generate a signal to transmit to the control device. If the overall center of gravity does not deviate from the preset center of gravity safety area, that is, G∈R, the control device will not issue a signal command, and the height of the telescopic support legs will remain unchanged; if the overall center of gravity deviates from the preset center of gravity safety area, that is, G∉R, the control device will issue a telescopic command to the four telescopic support legs according to the specific situation of the center of gravity deviation, and the telescopic support legs will extend or shorten according to the command to adjust the height of the support legs. During this process, the gravity sensor will continuously monitor the overall gravity center position and generate a signal to feed back to the control device until the overall gravity center returns to the preset gravity center safety area. The control device will no longer issue instructions, and the telescopic support legs will stop extending and retracting, maintaining the current height. Whenever you continue to put in a cutting board or knife, the above process will be repeated to ensure that the overall gravity center is always within the preset gravity center safety area.

[0102] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0103] Based on the same inventive concept, the embodiment of the present application also provides a device for controlling the position of a cutting board tool sterilizer for realizing the method for controlling the position of a cutting board tool sterilizer involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the device for controlling the position of a cutting board tool sterilizer provided below can refer to the limitations of the method for controlling the position of a cutting board tool sterilizer above, and will not be repeated here.

[0104] In one embodiment, Figure 7 As shown, a position control device for a cutting board and knife sterilizing machine is provided, comprising:

[0105] The detection module 200 is used to obtain the actual center of gravity position of the cutting board and knife sterilizer when detecting that an object is put in;

[0106] The control module 400 is used to determine a preset center of gravity safety area; if the actual center of gravity position is not in the preset center of gravity safety area, the actual center of gravity position is adjusted so that the adjusted actual center of gravity position is in the preset center of gravity safety area.

[0107] In one embodiment, the control module 400 is also used to adjust the height of the bottom support of the cutting board and knife sterilizer to adjust the actual center of gravity position if the actual center of gravity position is not in the preset center of gravity safety area, so that the adjusted actual center of gravity position is in the preset center of gravity safety area.

[0108] In one embodiment, the control module 400 is also used to delay for a preset time to determine whether there are other objects placed in if the actual center of gravity position is in a preset center of gravity safety area; if so, return to the step of obtaining the actual center of gravity position of the cutting board and knife sterilizer when the object is detected to be placed in; if not, end the adjustment.

[0109] In one of the embodiments, the control module 400 is also used to obtain the overall height of the chopping board knife sterilizer and the coordinates of the bottom support in the chopping board knife sterilizer; based on the overall height of the chopping board knife sterilizer and the coordinates of the bottom support in the chopping board knife sterilizer, the preset center of gravity safety area of ​​the chopping board knife sterilizer when no objects are placed in it is obtained.

[0110] In one of the embodiments, the control module 400 is also used to determine the vertical point coordinates corresponding to the bottom support coordinates in the lower half of the chopping board knife sterilizer according to the overall height of the chopping board knife sterilizer and the coordinates of the bottom support in the chopping board knife sterilizer, the lower half being the portion close to one side of the bottom support in the chopping board knife sterilizer; based on the coordinates of the bottom support and the vertical point coordinates in the chopping board knife sterilizer, the preset center of gravity safety area of ​​the chopping board knife sterilizer when no objects are placed in it is obtained.

[0111] In one embodiment, the control module 400 is also used to obtain a preset safety factor, which is a number less than 1; determine the enclosed area of ​​the bottom support coordinates and the vertical point coordinates in the chopping board and knife sterilizer; reduce the enclosed area according to the preset safety factor to obtain a preset center of gravity safety area of ​​the chopping board and knife sterilizer when no object is placed in it.

[0112] In one embodiment, the control module 400 is also used to adjust the coordinates of the bottom support and the vertical point in the chopping board and knife sterilizer according to a preset safety factor to obtain the adjusted coordinate points; calculate the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point and the maximum y-coordinate point in the adjusted coordinate points; and construct a preset center of gravity safety area of ​​the chopping board and knife sterilizer when no objects are placed in it according to the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point and the maximum y-coordinate point.

[0113] Each module in the above-mentioned cutting board and knife sterilizing machine posture control device can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0114] In one of the embodiments, the present application also provides a chopping board knife sterilizer, which includes a chopping board knife sterilizer body and a control device. The control device is connected to the chopping board knife sterilizer body, and the control device uses the above-mentioned method to adjust the posture of the chopping board knife sterilizer body.

[0115] Specifically, if Figure 1 As shown, in actual application, the cutting board and knife sterilizer includes a machine body, a control device, a chassis, a telescopic support leg and a center of gravity sensing device. There are multiple cutting board or knife sterilization areas inside the machine body, which can hold cutting boards or knives of different sizes and types; there is a control device inside the chassis, which is responsible for the sterilization control function and receiving and processing the signal from the center of gravity sensing device; there is a center of gravity sensing device in the central area inside the chassis, which is used to monitor the overall center of gravity changes in real time; the telescopic support leg is composed of an electric push rod, a displacement sensor device and a support leg, which are distributed at the four corners of the chassis, and the displacement sensor device inside it can receive signal instructions from the control device and adjust the height of the support leg according to the instruction. As shown Figure 3As shown, the ground contact part of the support foot is designed to be spherical, ensuring that when one support foot is extended or retracted, the other support feet can still effectively touch the ground, maintaining the stability and safety of the equipment. There is a push rod inside the electric push rod, which is connected to the fixed flange. During assembly, the fixed flange is fixedly connected to the chassis, and the push rod is extended and retracted to drive the telescopic support foot to extend or shorten. In actual operation, the control device uses the above method to adjust the posture of the cutting board and knife sterilizer body to significantly reduce the risk of the cutting board and knife sterilizer tipping over.

[0116] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for controlling the posture of a cutting board and knife sterilizer is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0117] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0118] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above-mentioned cutting board and knife sterilizing machine posture control method when executing the computer program.

[0119] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned position control method of the cutting board and knife sterilizing machine is implemented.

[0120] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the above-mentioned cutting board and knife sterilizing machine posture control method.

[0121] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0122] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0123] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling the position and posture of a cutting board and knife sterilizing machine, characterized in that: The method comprises: When an object is detected to be placed in the machine, the actual center of gravity of the cutting board and knife sterilizer is obtained; Determine the preset center of gravity safety area; If the actual center of gravity position is not within the preset center of gravity safety area, the posture of the cutting board and knife sterilizer is adjusted to adjust the actual center of gravity position until the adjusted actual center of gravity position is within the preset center of gravity safety area.

2. The method according to claim 1, characterized in that If the actual center of gravity position is not in the preset center of gravity safety area, adjusting the posture of the cutting board and knife sterilizer to adjust the actual center of gravity position until the adjusted actual center of gravity position is in the preset center of gravity safety area includes: If the actual center of gravity position is not within the preset center of gravity safety area, adjust the height of the bottom support of the cutting board and knife sterilizer so that the actual center of gravity position is adjusted until the actual center of gravity position is within the preset center of gravity safety area.

3. The method according to claim 1, characterized in that Also includes: If the actual center of gravity position is in the preset center of gravity safety area, delaying the preset time to determine whether there are other objects put in; If yes, return to the step of obtaining the actual center of gravity position of the cutting board and knife sterilizer when the object is detected to be placed in the cutting board and knife sterilizer; If not, the adjustment ends.

4. The method according to claim 1, characterized in that: Determining the preset center of gravity safety area includes: Obtain the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support in the cutting board and knife sterilizer; According to the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support in the cutting board and knife sterilizer, a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in the machine is obtained.

5. The method according to claim 4, characterized in that The step of obtaining a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein according to the overall height of the cutting board and knife sterilizer and the coordinates of the bottom support member in the cutting board and knife sterilizer comprises: According to the overall height of the cutting tool sterilizer and the coordinates of the bottom support in the cutting tool sterilizer, determine the coordinates of the vertical point in the lower half of the cutting tool sterilizer that corresponds to the coordinates of the bottom support in the cutting tool sterilizer, wherein the lower half is the portion close to one side of the bottom support in the cutting tool sterilizer; Based on the coordinates of the bottom support in the cutting board and knife sterilizer and the coordinates of the vertical point, a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in the machine is obtained.

6. The method according to claim 5, characterized in that The obtaining of a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein based on the coordinates of the bottom support member in the cutting board and knife sterilizer and the coordinates of the vertical point comprises: Obtaining a preset safety factor, where the preset safety factor is a number less than 1; Determine the enclosed area of ​​the bottom support coordinates and the vertical point coordinates in the cutting board and knife sterilizing machine; The enclosed area is reduced according to the preset safety factor to obtain a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed in the machine.

7. The method according to claim 6, characterized in that The enclosed area is reduced according to the preset safety factor to obtain a preset center of gravity safety area of ​​the cutting board and knife sterilizer when no object is placed therein, including: Adjust the coordinates of the bottom support member in the cutting board and knife sterilizing machine and the coordinates of the vertical point according to the preset safety factor to obtain adjusted coordinate points; Calculate the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point, and the maximum y-coordinate point among the adjusted coordinate points; According to the minimum x-coordinate point, the maximum x-coordinate point, the minimum y-coordinate point and the maximum y-coordinate point, a preset center of gravity safety area of ​​the cutting board and knife sterilizer is constructed when no object is placed in the machine.

8. A position control device for a cutting board and knife sterilizing machine, characterized in that: The device comprises: A detection module is used to obtain the actual center of gravity position of the cutting board and knife sterilizer when an object is detected to be placed in the machine; The control module is used to determine a preset center of gravity safety area; if the actual center of gravity position is not in the preset center of gravity safety area, adjust the actual center of gravity position so that the adjusted actual center of gravity position is in the preset center of gravity safety area.

9. A cutting board and knife sterilizing machine, characterized in that: It comprises a cutting board and knife sterilizing machine body and a control device, wherein the control device is connected to the cutting board and knife sterilizing machine body, and the control device uses the method described in any one of claims 1 to 7 to adjust the posture of the cutting board and knife sterilizing machine body.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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