Pot tilting control method and device

Abstract

The invention discloses a pan tilting control method and device, and the method comprises a zeroing process from a pan tilting state to an original point, and the zeroing process comprises the steps: enabling a pan to move at a preset angle in a first direction of the original point at a first speed; the cookware moves at a second speed in a second direction of the original point until an original point sensor is detected, and the second direction is opposite to the first direction; the cookware continuously moves at a third speed and in the second direction until the origin sensor cannot be detected, wherein the third speed is smaller than the second speed; and the cookware moves at a fourth speed and in the first direction until the origin sensor is detected. According to the embodiment of the invention, as for the zero returning process of returning to the original point in the pan tilting state, the device firstly moves towards the original point by an angle, then moves reversely until the original point sensor is found, then continuously moves along the original direction in a decelerated manner until the original point sensor disappears, and then moves reversely until the original point sensor is found, the device can quickly and accurately return to the original point; errors are reduced; and the zero returning efficiency is improved.

Description

Technical Field

[0001] The present application relates to an automatic cooking robot, and more particularly to a method and device for controlling a pot tilting. Background Art

[0002] An automatic cooking machine, also known as an intelligent cooking robot, is a kitchen appliance that can automatically complete the cooking process. It uses electric heating and realizes automatic stir-frying, temperature control and other functions through an intelligent control system. It can make delicious dishes without human supervision. It combines microcomputer control technology and intelligent cooking technology, which brings great convenience to modern families and commercial kitchens. Automatic cooking machines are suitable for a variety of scenarios, including home kitchens, school canteens, corporate canteens, military canteens, and cooked food processing industries. With the current extremely fast pace of life, automatic cooking machines are a powerful assistant in life for busy office workers or people who do not know how to cook.

[0003] Existing automatic cooking robots usually have a pot tilting mechanism, which allows the pot to perform cooking tasks at a certain tilt angle. Such automatic cooking robots need to move between multiple tilt angles and move back to the origin. However, due to mechanical installation errors, the origin of the machine is often inconsistent. The movement of the pot between multiple tilt angles also causes large errors due to excessive speed and low speed, resulting in low efficiency. Summary of the invention

[0004] The technical problem to be solved by the present application is to provide a tilting pot control method and device which can reduce position error and improve movement efficiency in view of the deficiencies in the prior art.

[0005] According to the first aspect of the present application, the present application provides a tilting pot control method, including a return-to-zero process from a tilting pot state to the origin, the return-to-zero process including: the pot moves at a first speed and in a first direction toward the origin by a predetermined angle; the pot moves at a second speed and in a second direction toward the origin until an origin sensor is detected, the second direction being opposite to the first direction; the pot continues to move at a third speed and in the second direction until the origin sensor is no longer detected, the third speed being less than the second speed; the pot moves at a fourth speed and in the first direction until the origin sensor is detected.

[0006] The method involved in the present application also includes the origin calibration process, which includes: using an angle measuring instrument to measure the position of the origin; if the deviation between the position of the origin and the set position exceeds a first preset value, calibrating the origin position.

[0007] The method involved in the present application also includes a tilt position calibration process of the cookware, and the tilt position calibration process includes: tilting the cookware to the angle position that needs to be calibrated; using an angle measuring instrument to measure the tilt angle of the angle position; if the deviation between the tilt angle and the set tilt angle exceeds a second preset value, calibrating the angle position.

[0008] In the method involved in the present application, the angular position includes at least one of a high inclination angle, a medium inclination angle, a low inclination angle and a dish serving inclination angle.

[0009] The method involved in the present application also includes a movement process of the cookware to a specified inclination position, and the movement process includes: the cookware moves toward the specified inclination position at a normal speed; when the difference between the inclination position of the cookware and the specified inclination position reaches a preset angle difference, the cookware gradually decelerates from the normal speed until it reaches the specified inclination position.

[0010] According to the second aspect of the present application, the present application provides a tilting pot control device, including a return to zero module, wherein the return to zero module is used to control the pot to move at a first speed and a first direction toward the origin by a predetermined angle; control the pot to move at a second speed and a second direction toward the origin until an origin sensor is detected, the second direction being opposite to the first direction; control the pot to continue moving at a third speed and the second direction until the origin sensor is no longer detected, the third speed being less than the second speed; control the pot to move at a fourth speed and the first direction until the origin sensor is detected.

[0011] The device involved in the present application also includes an origin calibration module, which is used to measure the position of the origin using an angle measuring instrument. If the deviation between the position of the origin and the set position exceeds a first preset value, the origin position is calibrated.

[0012] The device involved in the present application also includes a tilt position calibration module, which is used to tilt the cookware to an angle position that needs to be calibrated, and use an angle measuring instrument to measure the tilt angle of the angle position. If the deviation between the tilt angle and the set tilt angle exceeds a second preset value, the angle position is calibrated.

[0013] In the device involved in the present application, the angular position includes at least one of a high inclination angle, a medium inclination angle, a low inclination angle and a dish-discharging inclination angle.

[0014] The device involved in the present application also includes a moving module for controlling the cookware to move to a specified inclination position. The moving module is used to control the cookware to move toward the specified inclination position at a normal speed. When the difference between the inclination position of the cookware and the specified inclination position reaches a preset angle difference, the cookware gradually decelerates from the normal speed until it reaches the specified inclination position.

[0015] Due to the adoption of the above technical solution, the beneficial effects of this application are:

[0016] The tilting pot control method provided in the embodiment of the present application includes a zero return process from the tilting pot state to the origin, and the zero return process includes: the pot moves at a first speed and a first direction toward the origin by a predetermined angle; the pot moves at a second speed and a second direction toward the origin until the origin sensor is detected, and the second direction is opposite to the first direction; the pot continues to move at a third speed and the second direction until the origin sensor is no longer detected, and the third speed is less than the second speed; the pot moves at a fourth speed and the first direction until the origin sensor is detected. Since the embodiment of the present application first moves toward the origin for an angle and then moves in the opposite direction until the origin sensor is found, and then continues to decelerate in the original direction until the origin sensor disappears, and then moves in the opposite direction until the origin sensor is found, it can quickly and accurately return to the origin, reducing errors and improving the zero return efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a zero return process of the method provided in an embodiment of the present application in one implementation manner;

[0018] Figure 2 A flowchart of an origin calibration process of a method provided in an embodiment of the present application in one implementation manner;

[0019] Figure 3 A flowchart of a tilt position calibration process of the method provided in an embodiment of the present application in one implementation.

[0020] Figure 4 A flow chart of a moving process of a method provided in an embodiment of the present application in an implementation manner;

[0021] Figure 5 A schematic diagram of a program module of a tilting pot control device provided in an embodiment of the present application in one implementation manner. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0023] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0024] The serial numbers assigned to the components in this article, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0025] In addition, the technical features and technical solutions described herein may be combined in any suitable manner in one or more embodiments. It is easy for a person skilled in the art to understand that the steps or operation sequence of the methods related to the embodiments provided herein may also be changed. Therefore, any sequence in the drawings and embodiments is only for illustrative purposes and does not imply a requirement to follow a certain sequence unless it is explicitly stated that a certain sequence is required.

[0026] The dynamic pot involved in this application is used for automatically cooking food, and is called a cooking robot, an automatic cooking machine, an automatic cooking machine, etc. It includes a control circuit, a heating system, a stirring system, an air blowing system, a display board, a shell and a sensor. Among them, the control circuit is the core component of the dynamic pot, which is equipped with an integrated circuit chip, which is used to set the working time and temperature according to different foods and cooking methods, control the work of each actuator, and realize the standardization, programming and automation of food cooking. The heating system usually forms a three-dimensional heating system with the inner and outer pots, so that the food in the wok is heated in all directions. The stirring system drives the stirring handle in the inner wok to rotate intermittently at a uniform speed through coupling transmission to achieve stir-frying. The air blowing system is used to replenish the air in the pot during the cooking process to achieve the purpose of making the dishes colorful and delicious. The display board is used to set the cooking time and method, and display and prompt the working status of the intelligent cooking machine. The shell consists of a main shell and an upper cover, and various internal components are installed, and it plays a role in heat insulation, filtering and sealing. Dynamic cookers are equipped with various sensors, including temperature sensors, pressure sensors, humidity sensors, etc., to monitor the status of ingredients and environmental parameters in real time and accurately control the cooking process. The software of dynamic cookers includes artificial intelligence algorithms, which can be adjusted intelligently according to different ingredients and dishes. The electronic control system of dynamic cookers is used to execute the instructions of intelligent algorithms and control components such as robotic arms to complete cooking tasks. These structures together ensure that dynamic cookers can complete cooking tasks automatically and accurately.

[0027] In one embodiment, the cooking robot involved in the present application includes a dynamic pot with a variable inclination angle. In other words, the pot can change the angle between the pot body and the vertical direction during cooking, that is, the pot can be tilted as needed. For example, for convenience when serving food, the inclination angle can be set to close to 90 degrees.

[0028] In one embodiment, the present application can control the process of tilting the pot so that the angle error of the tilting is small and the tilting process is more efficient.

[0029] In one embodiment, the tilting pot control method involved in the present application may include a zero return process from the tilting pot state back to the origin. Figure 1 This is a flow chart of an embodiment of the zero return process of the tilting pot control method of the present application. Figure 1 As shown, in one implementation, the zero return process may include the following steps:

[0030] Step 101: the cooker moves a predetermined distance at a first speed and in a first direction toward an origin;

[0031] Step 102: the cookware moves at a second speed and in a second direction toward the origin until the origin sensor is detected, and the second direction is opposite to the first direction;

[0032] Step 103: The cookware continues to move at the third speed and in the second direction until the origin sensor is no longer detected, and the third speed is less than the second speed;

[0033] Step 104: The cookware moves at the fourth speed and the first direction until the origin sensor is detected.

[0034] In one embodiment, the pot may be in a tilted state, and the origin may be a non-tilted state, such as a tilt angle of 0, that is, the pot is in a horizontal state. In other examples, the origin may also be a tilted state with a non-zero tilt angle.

[0035] The cookware can move from the tilted state to the origin, i.e., return to zero. In one embodiment, the first speed can be a pre-set normal speed. In one embodiment, the first direction toward the origin can refer to the direction in which the cookware moves from the current tilted state to the zero point. For example, the cookware is tilted with its opening toward the operator, and the origin is a horizontal position, then the first direction toward the origin is forward. In one embodiment, the predetermined angle can be slightly larger than the angle at which the current tilt angle of the cookware returns to the origin position. Thus, the cookware can move from the tilted state to approximately the origin position, and slightly exceed the origin.

[0036] In one embodiment, the return to zero process may include step 102, the pot moves at a second speed and a second direction toward the origin until the origin sensor is detected, and the second direction is opposite to the first direction. In one embodiment, the second speed may be slightly less than the first speed, thereby enabling precise control to reduce errors. In other examples, the second speed may be equal to the first speed, thereby improving efficiency. In one embodiment, the second direction being opposite to the first direction means that after the pot exceeds the origin, it moves in the opposite direction toward the origin, for example, the first direction is forward and the second direction is backward. In one embodiment, the origin sensor may be a position sensor, and the pot may be provided with a detection device for detecting the origin sensor, so that the origin sensor may be detected when the pot passes the origin.

[0037] In one embodiment, the zero return process may include step 103, the cookware continues to move at a third speed and in the second direction until the origin sensor is no longer detected, and the third speed is less than the second speed.

[0038] In one embodiment, the cookware starts moving in the second direction after the origin sensor is detected in step 102, and continues moving until the origin sensor is no longer detected, that is, from the time the origin sensor is detected until the time the origin sensor is no longer detected. In one embodiment, the third speed may be less than the second speed, that is, the cookware moves at a reduced speed.

[0039] In one embodiment, the zero return process may include step 104, that is, the cookware moves at the fourth speed and the first direction until the origin sensor is detected. In one embodiment, after the cookware has gone through step 103, it slightly exceeds the origin sensor again. At this time, it is very close to the origin sensor, and immediately reverses, that is, starts to move in the first direction, and stops when the origin sensor is detected. In one embodiment, the fourth speed may be less than or equal to the third speed, so as to approach the origin sensor at a lower speed to reduce the error.

[0040] Figure 2 The flowchart of an embodiment of the origin calibration process of the tilting pot control method of the present application. In some examples, the tilting pot control method involved in the present application may include an origin calibration process. Figure 2 As shown, the origin calibration process may include the following steps:

[0041] Step 201: using an angle measuring instrument to measure the position of the origin;

[0042] Step 202: If the deviation between the position of the origin and the set position exceeds a first preset value, calibrate the position of the origin.

[0043] In one embodiment, the origin calibration process can be performed to calibrate the origin position deviation caused by the error in the mechanical installation position of the cookware.

[0044] In one embodiment, the origin calibration process may include step 201, i.e., using an angle measuring instrument to measure the position of the origin. In one embodiment, the position of the origin may be a horizontal position. In other examples, the position of the origin may have a certain inclination. In one embodiment, an angle measuring instrument may be used to measure the angle of the current zero point position.

[0045] In one embodiment, the origin calibration process may include step 202, that is, if the deviation between the position of the origin and the set position exceeds a first preset value, calibrating the origin position. In one embodiment, the set position may be an angle with the horizontal direction, such as 0 degrees. In one embodiment, the first preset value may be a tolerable angle deviation, such as 0.1 degrees. In one embodiment, calibrating the origin position may be adjusting the position of the origin sensor, or fine-tuning the origin position through software.

[0046] In one embodiment, the tilting pot control method involved in the present application may include a tilt position calibration process of the pot. Figure 3 This is a flow chart of an embodiment of the tilt position calibration process of the tilt pot control method of the present application. Figure 3 As shown, in one implementation, the tilt position calibration process provided in the embodiment of the present application may include the following steps:

[0047] Step 301: Tilt the cooker to an angle that needs to be calibrated;

[0048] Step 302: using an angle measuring instrument to measure the inclination angle of the measuring angle position;

[0049] Step 303: If the deviation between the tilt angle and the set tilt angle exceeds a second preset value, calibrate the angle position.

[0050] In one embodiment, the tilt position calibration process may include step 301, i.e. tilting the pot to the angle position that needs to be calibrated. In one embodiment, the angle position of the pot tilt includes at least one of a high tilt angle, a middle tilt angle, a low tilt angle and a dish serving tilt angle. In one embodiment, the high tilt angle, the middle tilt angle and the low tilt angle may refer to the angles tilted with respect to the horizontal direction, that is, in terms of the tilt angle, the high tilt angle> the middle tilt angle> the low tilt angle. In one embodiment, the high tilt angle, the middle tilt angle and the low tilt angle are all the tilt angles taken for different dishes during the frying process, and the dish serving tilt angle is the tilt angle when the dish is to be served after frying. Generally speaking, the dish serving tilt angle will be greater than the frying tilt angle, that is, the dish serving tilt angle is greater than the high tilt angle.

[0051] In one embodiment, the tilt position calibration process may include step 302, that is, using an angle measuring instrument to measure the tilt angle of the angle position. In one embodiment, the tilt angle may be the angle between the cookware axis and the horizontal direction or the vertical direction.

[0052] In one embodiment, the tilt position calibration process may include step 303, that is, if the deviation of the tilt angle from the set tilt angle exceeds a second preset value, calibrating the angle position. In one embodiment, the second preset value may be an angle deviation tolerance interval, such as ±0.1 degrees. In one embodiment, calibrating the angle position may be calibrating the angle position by software.

[0053] In one embodiment, the tilting pot control method involved in the present application may include a moving process of the pot to a specified tilt angle position. Figure 4 This is a flow chart of an embodiment of the moving process of the tilting pot control method of the present application. Figure 4 As shown, in one embodiment, the moving process may include the following steps:

[0054] Step 401: the cooker moves toward a specified inclination angle at a normal speed;

[0055] Step 402: When the difference between the inclination angle position of the cookware and the designated inclination angle position reaches a preset angle difference, the cookware gradually decelerates from a normal speed until it reaches the designated inclination angle position.

[0056] In one embodiment, the process of moving the pot to change the inclination angle may include step 401, that is, the pot moves toward the specified inclination angle position at a normal speed. In one embodiment, the normal speed can be understood as a relatively fast speed, thereby improving the efficiency of the movement.

[0057] In one embodiment, the movement process of the pot changing the inclination angle may include step 402, that is, when the difference between the inclination position of the pot and the specified inclination position reaches a preset angle difference, the pot gradually slows down from a normal speed until it reaches the specified inclination position. In other words, when the pot approaches the specified inclination position, it gradually slows down from a normal speed and eventually reaches the specified inclination position. In one embodiment, the difference between the current pot inclination angle and the specified inclination position can be determined by the value of the pot position encoder. In one embodiment, the preset angle difference can be set to 5%-10% of the required moving angle. In other examples, the preset angle difference can be 1-5 degrees. Thus, a segmented speed is adopted, and the closer to the target inclination angle, the slower the speed, which is conducive to precise control and error reduction.

[0058] In one embodiment, according to the above control method, the present application also relates to a tilting pot control device. Figure 5 This is a schematic diagram of the structure of an embodiment of the tilting pot control device of the present application. Figure 5 As shown, in one embodiment, the tilting pot control device involved in the present application may include a zero return module 510, an origin calibration module 520, a tilt position calibration module 530 and a movement module 540.

[0059] The return-to-zero module 510 is used to control the cookware to move at a first speed and in a first direction toward the origin for a predetermined angle; control the cookware to move at a second speed and in a second direction toward the origin until the origin sensor is detected, the second direction being opposite to the first direction; control the cookware to continue moving at a third speed and in the second direction until the origin sensor is no longer detected, the third speed being less than the second speed; control the cookware to move at a fourth speed and in the first direction until the origin sensor is detected.

[0060] The origin calibration module 520 is used to measure the position of the origin using an angle measuring instrument, and if the deviation between the position of the origin and the set position exceeds a first preset value, the origin position is calibrated.

[0061] The tilt position calibration module 530 is used to tilt the cookware to an angle position that needs to be calibrated, and use an angle measuring instrument to measure the tilt angle of the angle position. If the deviation between the tilt angle and the set tilt angle exceeds a second preset value, the angle position is calibrated. In one embodiment, the angle position includes at least one of a high tilt angle, a middle tilt angle, a low tilt angle, and a dish serving tilt angle.

[0062] The moving module 540 is used to control the cookware to move toward the specified inclination position at a normal speed. When the difference between the inclination position of the cookware and the specified inclination position reaches a preset angle difference, the cookware gradually decelerates from the normal speed until it reaches the specified inclination position.

[0063] The above contents are further detailed descriptions of the present application in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in the technical field to which the present application belongs, several simple deductions or substitutions can be made without departing from the concept of the present application.

Claims

1. A method for controlling a pot tilting, comprising a zero return process for a pot to return to an origin from a tilting state, characterized in that: The zero return process includes: The cooker moves at a first speed and in a first direction toward an origin by a predetermined angle; The cookware moves at a second speed and in a second direction toward the origin until the origin sensor is detected, the second direction being opposite to the first direction; The cookware continues to move at a third speed and in the second direction until the origin sensor is no longer detected, and the third speed is less than the second speed; The pot moves at a fourth speed and in the first direction until the origin sensor is detected.

2. The method according to claim 1, characterized in that The origin calibration process is also included, and the origin calibration process includes: measuring the position of the origin using an angle measuring instrument; If the deviation between the position of the origin and the set position exceeds a first preset value, the position of the origin is calibrated.

3. The method according to claim 1, characterized in that The invention also includes a tilt position calibration process of the cooker, wherein the tilt position calibration process includes: Tilt the cooker to an angle that requires calibration; measuring the inclination angle of the angular position using an angle measuring instrument; If the deviation between the tilt angle and the set tilt angle exceeds a second preset value, the angle position is calibrated.

4. The method according to claim 3, characterized in that The angular position includes at least one of a high inclination angle, a middle inclination angle, a low inclination angle and a dish-discharging inclination angle.

5. The method according to any one of claims 1 to 4, characterized in that The invention also includes a moving process of the pot to a specified inclination angle position, wherein the moving process includes: The pot moves toward a specified inclination angle position at a normal speed; When the difference between the inclination angle position of the cookware and the designated inclination angle position reaches a preset angle difference, the cookware gradually decelerates from a normal speed until reaching the designated inclination angle position.

6. A tilting pot control device, comprising a return-to-zero module, characterized in that: The return-to-zero module is used to control the cookware to move at a first speed and in a first direction toward the origin for a predetermined angle; control the cookware to move at a second speed and in a second direction toward the origin until the origin sensor is detected, the second direction being opposite to the first direction; control the cookware to continue moving at a third speed and in the second direction until the origin sensor is no longer detected, the third speed being less than the second speed; and control the cookware to move at a fourth speed and in the first direction until the origin sensor is detected.

7. The device according to claim 6, characterized in that It also includes an origin calibration module, which is used to measure the position of the origin using an angle measuring instrument. If the deviation between the position of the origin and the set position exceeds a first preset value, the origin position is calibrated.

8. The device according to claim 6, characterized in that It also includes a tilt position calibration module, which is used to tilt the cookware to an angle position that needs to be calibrated, use an angle measuring instrument to measure the tilt angle of the angle position, and calibrate the angle position if the deviation between the tilt angle and the set tilt angle exceeds a second preset value.

9. The device according to claim 8, characterized in that The angular position includes at least one of a high inclination angle, a middle inclination angle, a low inclination angle and a dish-discharging inclination angle.

10. The device according to any one of claims 6 to 9, characterized in that It also includes a moving module for controlling the pot to move to a specified inclination position, wherein the moving module is used to control the pot to move toward the specified inclination position at a normal speed, and when the difference between the inclination position of the pot and the specified inclination position reaches a preset angle difference, the pot gradually decelerates from the normal speed until it reaches the specified inclination position.

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