Control method for cooking equipment and cooking equipment

Abstract

The invention provides a control method for cooking equipment and the cooking equipment, and the control method for the cooking equipment comprises the steps: receiving a movement instruction for a pot cover, and starting a motor to drive a cross beam arm and the pot cover to move; in the first time interval, the duty ratio of the motor is increased; in the second time interval, the duty ratio of the motor is kept to be the first duty ratio until the cross beam arm moves to the first movement stroke; in the third time interval, the duty ratio of the motor is adjusted to be continuously reduced from the first duty ratio; in a fourth time interval, the duty ratio of the motor is kept at a second duty ratio until the cross beam arm moves to a second movement stroke; and in the fifth time interval, the duty ratio of the motor is adjusted to be continuously reduced from the second duty ratio to the third duty ratio. By means of the method, the movement process of the pot cover is divided into five stages, the operation speed of the pot cover can be increased, and damage caused by impact on structural parts due to the fact that the operation speed of the pot cover is too high can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and more particularly to a control method for a cooking device. The present invention also relates to a cooking device, a computer-readable storage medium, and a computer program product. Background Art

[0002] Currently, when preparing dishes with smart cooking devices, the lid must be opened to add the food and closed to stir-fry. This lid opening and closing is typically electronically controlled by the forward and reverse rotation of a motor. Current technology makes lid opening and closing of electronically controlled devices slow. This is primarily due to the low gear ratio of the lid motor's gearbox. This results in a long opening and closing time even when the motor is running at full speed. This further increases user wait time, impacting the user experience.

[0003] To increase the speed of the lid opening and closing, the motor's gear ratio can be increased. However, simply increasing the motor's gear ratio will cause the lid to move too quickly, increasing the risk of damage to the lid's structural components. Therefore, how to increase the lid's movement speed while ensuring the safety of the structural components has become a pressing issue for technicians. Summary of the Invention

[0004] In view of this, an embodiment of the present application provides a control method for a cooking device. The present application also relates to a cooking device, a computer-readable storage medium, and a computer program product to solve the above-mentioned problems existing in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a control method for a cooking device is provided. The cooking device includes a base portion and a crossbeam arm. The base portion is provided with a pot body, a motor, and a transmission mechanism connected to the motor. The crossbeam arm is connected to the transmission mechanism and is driven by the transmission mechanism to rotate relative to the base portion. The crossbeam arm is also provided with a pot cover. The rotation of the crossbeam arm drives the pot cover to cover or separate from the pot body. The cooking device also includes a travel sensor for detecting the movement range of the crossbeam arm. The control method includes:

[0006] receiving a motion instruction for the pot cover, and starting the motor to drive the crossbeam arm and the pot cover to move;

[0007] Increasing the duty cycle of the motor during a first time interval;

[0008] In a second time interval, maintaining the duty cycle of the motor at a first duty cycle until the crossbeam arm moves to a first movement stroke;

[0009] In the third time interval, adjust the duty cycle of the motor to continuously decrease from the first duty cycle;

[0010] In the fourth time interval, keep the duty cycle of the motor at the second duty cycle until the cross beam arm moves to the second movement stroke;

[0011] In the fifth time interval, adjust the duty cycle of the motor to continuously decrease from the second duty cycle to the third duty cycle.

[0012] According to the second aspect of the embodiments of the present application, a cooking device is provided, including:

[0013] A base part, where a cooking pot, a motor, and a transmission mechanism drivingly connected to the motor are arranged on the base part;

[0014] A cross beam arm, which is connected to the transmission mechanism and is driven by the transmission mechanism to rotate relative to the base part. A pot lid is further arranged on the cross beam arm, and the rotation of the cross beam arm drives the pot lid to cover or separate from the cooking pot;

[0015] A stroke sensor for detecting the movement stroke of the cross beam arm;

[0016] A memory and a processor;

[0017] The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above control method for the cooking device are implemented.

[0018] According to the third aspect of the embodiments of the present application, a computer-readable storage medium is provided, which stores computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above control method for the cooking device are implemented.

[0019] According to the fourth aspect of the embodiments of the present application, a computer program product is provided, including computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above control method for the cooking device are implemented.

[0020] The present application provides a control method for a cooking device, wherein the cooking device includes a base portion and a crossbeam arm, wherein the base portion is provided with a pot body, a motor, and a transmission mechanism connected to the motor, the crossbeam arm is connected to the transmission mechanism and is driven by the transmission mechanism to rotate relative to the base portion, and a pot cover is also provided on the crossbeam arm, and the rotation of the crossbeam arm drives the pot cover to cover or separate from the pot body; the cooking device also includes a stroke sensor, which is used to detect the movement stroke of the crossbeam arm, and the control method includes: receiving a movement instruction for the pot cover, starting The motor drives the crossbeam arm and the pot cover to move; in a first time interval, the duty cycle of the motor is increased; in a second time interval, the duty cycle of the motor is maintained at a first duty cycle until the crossbeam arm moves to a first movement stroke; in a third time interval, the duty cycle of the motor is adjusted to continuously decrease from the first duty cycle; in a fourth time interval, the duty cycle of the motor is maintained at a second duty cycle until the crossbeam arm moves to a second movement stroke; in a fifth time interval, the duty cycle of the motor is adjusted to continuously decrease from the second duty cycle to a third duty cycle.

[0021] The control method for cooking equipment provided by the embodiment of the present application, after receiving the movement instruction for the pot cover, starts the motor according to the movement instruction, so that the motor drives the crossbeam arm and the pot cover to move, increases the motor duty cycle in the first time interval to speed up the movement of the motor, and maintains the click at the first duty cycle in the second time interval to further ensure the running speed of the motor and prevent the user from waiting too long. In the third time interval, the duty cycle of the motor is reduced to prevent the pot cover from moving too fast and unable to stop in time. In the fourth time interval, the second duty cycle is maintained to effectively reduce the running speed of the pot cover and prevent the pot cover from running too fast and causing damage to the structural parts. In the fifth time interval, the duty cycle of the motor is continuously reduced so that the pot cover can stop slowly, further ensuring the stability of the structural parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a flow chart of a control method for a cooking device provided by an embodiment of the present application;

[0023] Figure 2 This is a flow chart of a cover control method provided by one embodiment of the present application;

[0024] Figure 3 This is a processing flow chart of a lid control method applied to a smart cooking device provided in one embodiment of the present application;

[0025] Figure 4 This is a processing flow chart of a lid control method applied to an intelligent cooking device provided by another embodiment of the present application;

[0026] Figure 5 It is a processing flowchart of a lid control method applied to an intelligent cooking device provided by another embodiment of the present application;

[0027] Figure 6 It is a processing flowchart of a lid control method applied to an intelligent cooking device provided by another embodiment of the present application;

[0028] Figure 7 It is a schematic structural diagram of a lid control device provided by an embodiment of the present application;

[0029] Figure 8 It is a schematic diagram of a cooking device provided by an embodiment of the present application;

[0030] Figure 9 It is a schematic diagram of the relationship between the opening angle of the pot lid and the current value provided by an embodiment of the present application. Detailed implementation manners

[0031] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application. Therefore, the present application is not limited by the specific implementations disclosed below.

[0032] The terms used in one or more embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present application. The singular forms "a", "the" and "said" used in one or more embodiments of the present application and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more of the associated listed items.

[0033] It should be understood that although the terms first, second, etc. may be used in one or more embodiments of the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0034] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties. The collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards in the relevant regions, and corresponding operation entrances are provided for users to choose to authorize or reject.

[0035] First, the noun terms involved in one or more embodiments of this application are explained.

[0036] Motor stall: It refers to a situation where the motor still outputs torque when the rotational speed is 0, usually caused by mechanical or human factors. When motor stall occurs, the power factor of the motor is extremely low, and the stall current may reach 5 - 12 times the rated current. Prolonged stall will cause damage to the motor.

[0037] Duty cycle of the motor: The duty cycle of the motor refers to the ratio of the energized time to the total time within one cycle of the motor, usually expressed as a percentage. The range of the duty cycle is from 0% to 100%. Among them, 0% means the motor stops running, and 100% means the motor runs continuously. The larger the duty cycle, the faster the motor speed and the greater the output power of the motor. Conversely, the smaller the duty cycle, the slower the motor speed and the smaller the output power of the motor.

[0038] Currently, with the development of electronization, intelligent cooking devices have begun to enter the lives of the general public. During the process of cooking dishes, intelligent cooking devices need to open the lid to put in the dishes and close the lid for stir-frying. The opening and closing of the lid are usually electronically controlled and achieved by the forward and reverse rotation of the motor. The opening and closing speed of the lid is relatively slow. The main reason is that the rotation of the motor gearbox of the lid is relatively low, resulting in a relatively long opening and closing time of the lid even when the motor runs at full speed. To increase the opening and closing speed of the lid, the transmission ratio of the motor can be increased, but this will cause the lid to move too fast, thus bringing the risk of damage to structural components.

[0039] Based on this, in this application, a control method for cooking devices is provided. This application also involves a cooking device, a computer-readable storage medium, and a computer program product, which will be described in detail one by one in the following embodiments.

[0040] Figure 1The figure shows a flowchart of a control method for a cooking device according to an embodiment of the present application. In the method provided by the embodiment of the present application, the cooking device includes a base part and a crossbeam arm. The base part is provided with a pot body, a motor, and a transmission mechanism that is drivingly connected to the motor. The crossbeam arm is connected to the transmission mechanism and is driven by the transmission mechanism to rotate relative to the base part. A pot lid is also provided on the crossbeam arm, and the rotation of the crossbeam arm drives the pot lid to cover or separate from the pot body. The cooking device further includes a travel sensor for detecting the movement travel of the crossbeam arm. The method specifically includes the following steps:

[0041] Step 102: Receive a movement instruction for the pot lid and start the motor to drive the crossbeam arm and the pot lid to move.

[0042] Here, the pot lid is the pot lid of the cooking device in the embodiment of the present application. During the operation of the intelligent cooking device, there are production requirements for rapid cooking, and there are requirements for quickly opening and closing the lid during the process of putting dishes into the pot body. The movement instruction can be understood as a specific operation information instruction for the pot lid. For example, controlling the pot lid to open or close. Specifically, receiving a movement instruction for the pot lid includes: receiving a pot lid opening instruction or a pot lid closing instruction for the pot lid. In practical applications, if it is necessary to control the pot lid to open, then receive a pot lid opening instruction for the pot lid; if it is necessary to control the pot lid to close, then receive a pot lid closing instruction for the pot lid.

[0043] In a specific embodiment provided by the present application, when a user wants to use the intelligent cooking device to cook, they need to put dishes into the intelligent cooking device, send a pot lid opening instruction to the intelligent cooking device, so as to control the pot lid of the intelligent cooking device to open. After the dishes are added to the intelligent cooking device, send a pot lid closing instruction to the intelligent cooking device, so as to control the pot lid of the intelligent cooking device to close. During this process, the pot lid of the intelligent cooking device is driven by the motor to realize the opening and closing of the pot lid. There is no need for manual control, thus improving the user experience.

[0044] In the method provided by the embodiment of the present application, the cooking device includes a base part and a crossbeam arm. The base part includes a motor and a traditional structure that is drivingly connected to the motor. The crossbeam arm is connected to the traditional mechanism, and the crossbeam arm can be driven by the traditional mechanism to rotate relative to the base part. A pot lid is provided on the crossbeam arm. When the crossbeam arm rotates, it can drive the pot lid to cover or separate from the pot body. In the case of receiving a movement instruction for the pot lid, the motor can be started according to the movement instruction, so as to drive the crossbeam arm and the pot lid to perform corresponding movements.

[0045] Step 104: Increase the duty cycle of the motor within the first time interval.

[0046] In the method provided in the embodiments of the present application, the entire process of the lid movement is divided into five stages, and each stage corresponds to a time interval. Among them, the first time interval is the first stage of the lid movement, and the first stage can be understood as the starting stage of the lid. In the first time interval, it is the stage where the duty cycle of the motor continuously increases. The duty cycle of the motor refers to the proportion of the energized time of the motor in a cycle to the total time, usually expressed as a percentage. The range of the duty cycle is from 0% to 100%, where 0% means the motor stops running, and 100% means the motor runs continuously. The larger the duty cycle, the faster the motor speed and the greater the motor output power. Conversely, the smaller the duty cycle, the slower the motor speed and the smaller the motor output power.

[0047] In the first time interval, the motor starts from 0%, that is, the motor enters the running state from the stopped state, thereby driving the crossbeam arm and the lid to perform corresponding movements.

[0048] For example, after receiving the movement instruction for the lid, the motor starts, and the duty cycle gradually increases from the stopped state of 0%, thereby driving the crossbeam arm and the lid to move.

[0049] Step 106: In the second time interval, keep the duty cycle of the motor at the first duty cycle until the crossbeam arm moves to the first movement stroke.

[0050] The second time interval can be understood as the second stage of the lid movement, and the second stage can be understood as the running stage of the lid. In the second stage, it is the state where the motor maintains the first duty cycle and runs at a high speed. In the second time interval, the motor runs while maintaining the first duty cycle, which can ensure that the motor maintains a high operating efficiency, thereby increasing the movement speed of the lid and shortening the operating time for opening or closing the lid.

[0051] The first duty cycle is a relatively high duty cycle value in the method provided in the embodiments of the present application. A relatively high duty cycle value will drive the lid to move at a faster speed and in a shorter time. In practical applications, in the first time interval, the duty cycle of the motor is controlled to increase from 0% until it reaches the first duty cycle. In the second time interval, the duty cycle of the motor is controlled to maintain the first duty cycle and run.

[0052] In a specific embodiment provided in the present application, taking the first duty cycle as 100% as an example, in the first time interval, the duty cycle of the motor is controlled to increase from 0% until it reaches 100%, and then it enters the second time interval. In the second time interval, the duty cycle of the motor is controlled to maintain 100% and run until the crossbeam arm moves to the first movement stroke.

[0053] Among them, the first motion stroke can be understood as the information for determining the motion state of the crossbeam arm. According to the motion state information, the end time of the second stage of the pot lid operation can be further determined. That is, the time interval during which the motor operates at the first duty ratio is the second time interval. The starting time point of the second time interval is the time point when the duty ratio reaches the first duty ratio, and the ending time point of the second time interval is the time point when the crossbeam arm moves to the first motion stroke. The first motion stroke can be understood as the critical position of the pre-braking stage.

[0054] In the method provided in the embodiment of the present application, until the crossbeam arm moves to the first motion stroke, it includes:

[0055] Until the crossbeam arm drives the pot lid to move to the first angle threshold.

[0056] In this embodiment, the first motion stroke of the crossbeam arm movement can be understood as the crossbeam arm driving the pot lid to move to the first angle threshold. The first angle threshold can be understood as the maximum angle at which the motor driving the pot lid needs to decelerate.

[0057] In a specific embodiment provided by the present application, the cooking device includes a stroke sensor, and the stroke sensor is used to detect the motion stroke of the crossbeam arm. Specifically, the stroke sensor can be an angle sensor for detecting the opening angle of the pot lid driven by the crossbeam arm during the movement. The opening angle of the pot lid is the angle information collected by the angle sensor. In actual application, the angle value in the case of the pot lid being closed is set to 0 degrees, and the process of the pot lid from being closed to fully opened is a process from 0 degrees to the preset opening angle. If the preset opening angle is 90 degrees, the angle change of the pot lid from the closed state to the fully opened state is from 0 degrees to 90 degrees.

[0058] The first angle threshold is the judgment criterion for determining that the crossbeam arm moves to the first motion stroke. If the angle sensor detects that the opening angle of the pot lid reaches the first angle threshold during the process of the motor driving the pot lid to move, it is determined that the crossbeam arm moves to the first motion stroke, thereby determining the end of the second stage of the pot lid movement.

[0059] In a specific embodiment provided by the present application, the first angle threshold includes a first fixed angle threshold or a first relative angle threshold; the first relative angle threshold is a preset percentage of the opening angle range.

[0060] In practical applications, the first angle threshold can be a fixed angle threshold or a relative angle threshold. For example, the first angle threshold is set to 60°, 70°, etc. However, in practical applications, the full-opening angle range of the pot lid may not be 0°-90°, and it may be 0°-120°, 0°-110°, etc. If a fixed angle threshold is set, the full-speed operation time of the pot lid will be reduced, thereby increasing the time for opening and closing the lid. Therefore, in the method provided in the embodiments of the present application, the first angle threshold can also be a first relative angle threshold, and the first relative angle threshold is a preset percentage of the full-opening angle range. For example, when the full-opening angle range of the pot lid is 0°-110°, the first relative angle threshold can be set to 70% of the full range (i.e., 77°). Whether the first angle threshold is set to the first fixed angle threshold or the first relative angle threshold can be determined according to the actual application scenario, and no limitation is made in the embodiments of the present application.

[0061] Step 108: In the third time interval, adjust the duty ratio of the motor to continuously decrease from the first duty ratio.

[0062] The third time interval is the third stage of the movement of the pot lid, and the third stage can be understood as the pre-braking stage of the pot lid. To prevent the pot lid from running too fast, thereby bringing the risk of impact damage to the structural components. In the third time interval, the pot lid starts pre-braking in the high-speed running state, that is, adjust the duty ratio of the motor to continuously decrease from the first duty ratio to ensure that the pot lid has sufficient braking stroke. In practical applications, start pre-braking in the third stage to avoid the situation of structural component damage caused by untimely braking due to the errors between structural components.

[0063] In the third stage of the movement of the pot lid, the duty ratio of the motor will be adjusted to decrease from the first duty ratio until the second duty ratio is reached. For example, the second duty ratio can be set to 40%, that is, in the third time interval, the duty ratio of the motor is continuously reduced from 100% (the first duty ratio) to 40% (the second duty ratio), so as to realize the early pre-braking of the movement of the pot lid and prevent the pot lid from running at high speed and impacting the structural components, resulting in damage to the structural components.

[0064] Step 110: In the fourth time interval, keep the duty ratio of the motor as the second duty ratio until the crossbeam arm moves to the second movement stroke.

[0065] The fourth time interval is the fourth stage of the movement of the pot lid, and the fourth stage can be understood as the low-speed running stage of the pot lid. In the fourth stage, the motor runs at the second duty ratio until the crossbeam arm moves to the second movement stroke. The second movement stroke can be understood as the braking critical position where the crossbeam arm drives the pot lid to start braking.

[0066] In practical applications, a braking critical point for the operation of the pot lid is set. However, due to the relatively high duty cycle of the motor in the early stage, if the duty cycle is rapidly reduced from a relatively high value in a short period of time, it will cause damage to the structural components. Therefore, in the method provided in this application, a low-speed operation stage in the fourth stage is reserved. In this method, the shorter the fourth time interval is, the shorter the overall time for opening and closing the pot lid is.

[0067] In the method provided in the embodiment of this application, the second movement stroke is the braking critical position for the pot lid to start braking during movement, that is, when the crossbeam arm moves to the second movement stroke, braking starts. Among them, until the crossbeam arm moves to the second movement stroke includes: until the crossbeam arm drives the pot lid to move to the second angle threshold.

[0068] In the method provided in the embodiment of this application, the second angle threshold includes a second fixed angle threshold or a second relative angle threshold; the second relative angle threshold is a preset percentage of the opening angle range. It should be noted that the only difference between the second angle threshold and the first angle threshold is the specific value. For the relevant description information about the second angle threshold, reference can be made to the relevant introduction of the above first angle threshold, which will not be elaborated here.

[0069] Step 112: In the fifth time interval, adjust the duty cycle of the motor to continuously decrease from the second duty cycle to the third duty cycle.

[0070] The fifth time interval can be understood as the fifth stage of the pot lid, and the fifth stage can be understood as the braking stage of the pot lid. In the fifth time interval, control the pot lid to gradually stop. Specifically, adjust the duty cycle of the motor to continuously decrease from the second duty cycle to the third duty cycle. By adjusting the duty cycle of the motor, continuously reduce the running speed of the pot lid to further avoid the impact on the structural components caused by the high-speed operation of the pot lid.

[0071] In a specific implementation manner provided in this application, the method further includes: maintaining the duty cycle of the motor at the third duty cycle until the crossbeam arm stops moving. In this implementation manner, the motor runs at the third duty cycle until the crossbeam arm stops moving. In practical applications, the pot lid driven by the crossbeam arm will stop moving after encountering the limit structural components, and the motor runs at a relatively low third duty cycle to avoid the pot lid hitting the limit structural components at a relatively high running speed.

[0072] In another specific implementation manner provided in this application, the cooking device includes an angle sensor, and the angle sensor is used to determine the sensor calibration status information of the pot lid. In the case where the sensor calibration status information is uncalibrated; the method further includes:

[0073] Receive a calibration movement instruction for the pot lid, and start the motor to drive the crossbeam arm and the pot lid to move;

[0074] During the first calibration time interval, increase the duty cycle of the motor;

[0075] During the second calibration time interval, keep the duty cycle of the motor at the fourth duty cycle until the sampled current of the motor stalling reaches a preset sampled current threshold and lasts for a preset stalling duration.

[0076] In a specific embodiment provided by the present application, an angle sensor is used to detect the opening and closing angle of the pot lid, ensuring that the pot lid moves within a specified angle range, avoiding too large an opening and closing angle of the pot lid, and thus avoiding damage to the structural components of the pot lid. In actual applications, if the angle sensor is not calibrated, the angle sensor needs to be calibrated first.

[0077] Specifically, receive a calibration movement instruction for the pot lid, where the calibration movement instruction can be understood as a calibration instruction for the angle sensor. After receiving the calibration movement instruction, start the motor to drive the crossbeam arm and the pot lid to move.

[0078] During the first calibration time interval, the duty cycle of the motor continuously increases from zero to the fourth duty cycle and operates at the fourth duty cycle during the second calibration time interval until the sampled current of the motor stalling reaches a preset sampled current threshold and lasts for a preset stalling duration.

[0079] Motor stalling refers to a situation where the motor still outputs torque when the rotational speed is 0, usually caused by mechanical or human factors. When motor stalling occurs, the power factor of the motor is extremely low, and the stalling current may reach 5 - 12 times the rated current. Prolonged stalling will cause damage to the motor. In the method provided by the embodiments of the present application, in the case of motor stalling, it indicates that the pot lid opening has reached the limit structural component. At this time, the current in the current motor is sampled to obtain the sampled current. If motor stalling occurs in the motor and the sampled current reaches the preset sampled current threshold and lasts for the preset stalling duration, it indicates that the pot lid opening is in place, and record the opening angle of the pot lid at this time.

[0080] In another specific embodiment provided by the present application, the method further includes:

[0081] Obtain the initial current of the motor stalling;

[0082] Calculate the sampled current corresponding to the initial current according to the rated voltage value and the sampled resistance value.

[0083] In actual applications, first collect the initial current I in the case of motor stalling in the motor, and convert the initial current into the corresponding sampled current AD through the rated voltage value and the sampled resistance value. The sampled current AD is calculated by the formula AD=(I*2 12Calculated by I*(0.06) / 3.3, where I is the initial current, 0.06 is the sampling resistance, 3.3 is the rated voltage value of the motor, and 2 12 is a 12-bit sampling accuracy. Converting the initial current into a sampling current convenient for computer processing is beneficial for more stable subsequent processing and improving the accuracy of data processing.

[0084] In another specific embodiment provided by the present application, the method further includes:

[0085] In the third calibration time interval, adjust the duty cycle of the motor to continuously decrease from the fourth duty cycle to the fifth duty cycle until the crossbeam arm stops moving.

[0086] In this embodiment, when the sampling current of the motor stalling reaches the preset sampling current threshold and lasts for the preset stalling duration, enter the third calibration time interval. In the third calibration time interval, adjust the duty cycle of the motor to continuously decrease from the fourth duty cycle to the fifth duty cycle until the crossbeam arm stops moving. Record the opening angle of the pot lid at this time.

[0087] In another specific embodiment provided by the present application, the method further includes:

[0088] Calibrate the angle sensor according to the initial angle information of the pot lid and the target angle information when the pot lid stops moving, and update the target sensor calibration status information of the angle sensor to calibrated.

[0089] Record the initial angle information of the pot lid in the closed state, and at the same time record the target angle information after the pot lid stops moving. Calibrate the angle sensor through the initial angle information and the target angle information. After calibration, update the target sensor calibration status information of the angle sensor to calibrated.

[0090] Through the method provided by the embodiments of the present application, the movement process of the pot lid is divided into 5 stages. In the first stage, the duty cycle of the motor is increased so that the motor can quickly enter the high-speed operation state. In the second stage, the motor maintains a high duty cycle to ensure the high-speed movement of the pot lid. In the third stage, it enters the pre-braking stage of the pot lid, reduces the duty cycle of the motor, and pre-brakes the pot lid in advance to prevent the high-speed movement of the pot lid from impacting the structural components. In the fourth stage, it enters the low-speed operation stage of the pot lid, which is beneficial for better controlling the time point when the pot lid runs in place. The shorter the time in the fourth stage, the shorter the overall opening and closing time of the pot lid. In the fifth stage, it enters the braking stage, and in this stage, the pot lid is adjusted from low-speed operation to stop, reducing the impact of the pot lid on the structural components. Through this method, the movement process of the pot lid is divided into 5 stages, which can not only improve the running speed of the pot lid but also reduce the damage caused by the impact of the pot lid on the structural components due to too fast running speed.

[0091] Figure 2 A flow chart of a cover control method according to an embodiment of the present application is shown, which specifically includes the following steps:

[0092] Step 202: Receive a cover movement instruction for a target cover.

[0093] The target cover can be understood as the cover that needs to be controlled in the embodiments of the present application. It should be noted that the method provided in the embodiments of the present application is applicable to scenarios where the target cover needs to be opened and closed quickly. For example, the target cover can be the pot lid of a smart cooking device. During operation, the smart cooking device has production capacity requirements for fast cooking, and there is a need to quickly open and close the lid when adding food to the pot.

[0094] A cover movement instruction can be understood as an operation information instruction specifically implemented on a cover, for example, controlling the opening or closing of a target cover. Specifically, receiving a cover movement instruction for a target cover includes receiving a cover opening instruction or a cover closing instruction for the target cover. In actual application, if the target cover needs to be opened, a cover opening instruction for the target cover is received; if the target cover needs to be closed, a cover closing instruction for the target cover is received.

[0095] In one embodiment provided in this application, the target lid is a pot lid of a smart cooking device. To illustrate, when a user wants to use the smart cooking device to cook, they add food to the device. A lid-open command is then sent to the device, causing the lid to open. Once the food is added, a lid-close command is sent to the device, causing the lid to close. During this process, the lid of the smart cooking device is driven by a motor to open and close. This eliminates the need for manual control, thereby enhancing the user experience.

[0096] Step 204: determining target sensor calibration status information corresponding to the target cover, and determining a cover movement stopping condition corresponding to the target sensor calibration status information.

[0097] In practical applications, the target cover can be controlled by a motor to achieve automatic opening and closing, and the opening and closing angle of the target cover is usually detected by an angle sensor. The angle sensor is used to detect the opening and closing angle of the target cover, ensuring that the target cover moves within a specified angle range, avoiding excessive opening and closing angles and thus preventing damage to the target cover's structural components.

[0098] Before the angle sensor corresponding to the target cover is officially used, it needs to be calibrated. After calibration, it will be more accurate during subsequent use. If it is not calibrated, automatic calibration will be performed during the first use.

[0099] In the method provided in the embodiment of the present application, the calibration status information of the target sensor corresponding to the target cover can be understood as the calibration information of the angle sensor corresponding to the target cover. That is, whether the angle sensor of the target cover is calibrated under the current circumstances. Specifically, determining the calibration status information of the target sensor corresponding to the target cover includes: determining that the calibration status information of the target sensor corresponding to the target cover is uncalibrated or calibrated. That is, if the angle sensor corresponding to the target cover has been calibrated, the corresponding calibration status information of the target sensor is calibrated; if the angle sensor corresponding to the target cover has not been calibrated, the corresponding calibration status information of the target sensor is uncalibrated.

[0100] During the subsequent process of controlling the movement of the target cover, it is necessary to determine the cover movement stop condition of the target cover according to the calibration status information of the target sensor. In the method provided in the embodiment of the present application, the cover movement stop condition can be understood as the condition for judging that the cover needs to stop moving during the process of controlling the movement of the target cover. Different calibration status information of the target sensor corresponds to different cover movement stop conditions.

[0101] In the specific implementation manner provided in the present application, determining the cover movement stop condition corresponding to the calibration status information of the target sensor includes S2042 - S2044:

[0102] S2042. When the calibration status information of the target sensor is uncalibrated, determine the cover movement stop condition according to the sampled current of the motor stall.

[0103] In the specific implementation manner provided in the present application, if the calibration status information of the target sensor is uncalibrated, it means that the angle sensor corresponding to the target cover is currently in an uncalibrated state. In this case, determine the cover movement stop condition through the sampled current of the motor stall.

[0104] Motor stall refers to a situation where the motor still outputs torque when the speed is 0, usually caused by mechanical or human factors. When motor stall occurs, the power factor of the motor is extremely low, and the stall current may reach 5 - 12 times the rated current. Prolonged stall will cause damage to the motor. In the method provided in the embodiment of the present application, in the case of motor stall, sample the current in the current motor to obtain the sampled current, and determine the cover movement stop condition through the sampled current.

[0105] Specifically, the method further includes:

[0106] Obtain the initial current of the motor under locked-rotor condition;

[0107] Calculate the sampling current corresponding to the initial current according to the rated voltage value and the sampling resistance value.

[0108] In practical applications, first collect the initial current I in the case of motor locked-rotor in the motor, and convert the initial current into the corresponding sampling current AD through the rated voltage value and the sampling resistance value. The sampling current AD is calculated by the formula AD = (I * 2 12 * 0.06) / 3.3, where I is the initial current, 0.06 is the sampling resistance, 3.3 is the rated voltage value of the motor, and 2 12 is the 12-bit sampling accuracy. Converting the initial current into a sampling current that is convenient for computer processing is beneficial for more stable subsequent processing and improving the accuracy of data processing.

[0109] In the method provided in the embodiments of the present application, determining the cover movement stop condition according to the sampling current of the motor locked-rotor includes:

[0110] When the cover movement instruction is a cover opening instruction, determine that the cover movement stop condition is that the sampling current of the motor locked-rotor reaches the first sampling current threshold and lasts for a preset locked-rotor duration;

[0111] When the cover movement instruction is a cover closing instruction, determine that the cover movement stop condition is that the sampling current of the motor locked-rotor reaches the second sampling current threshold and lasts for a preset locked-rotor duration.

[0112] In practical applications, if the calibration status information of the target sensor is uncalibrated, the sampling current of the motor locked-rotor is required to determine the cover movement stop condition. Specifically, when the motor is locked-rotor, calculate the sampling current of the motor locked-rotor. When the sampling current reaches the preset threshold and maintains for a period of time, it can be considered that the target cover has been opened or closed in place, and then it is determined that the target cover can stop moving.

[0113] Since the structural parts of the target cover and the installation force of the motor may be different during the opening and closing of the target cover, and the motor power settings for opening and closing the target cover may be different. Therefore, different preset thresholds can be set for opening and closing the cover. Specifically, when the cover movement instruction is for the cover to open, the corresponding cover movement stop condition is that the sampling current of the motor locked-rotor reaches the first sampling current threshold and lasts for a preset locked-rotor duration; when the cover movement instruction is for the cover to close, the corresponding cover movement stop condition can be that the sampling current of the motor locked-rotor reaches the first sampling current threshold and lasts for a preset locked-rotor duration. In practical applications, the first sampling current threshold and the second sampling current threshold can be the same or different, and the specific values of the first sampling current threshold and the second sampling current threshold are subject to actual applications.

[0114] In a specific implementation provided in the embodiments of the present application, the first sampling current threshold can be set to 105 (corresponding to the motor stall current of 1.4 A), and the preset stall duration can be set to 40 ms. The second sampling current threshold is set to 78 (corresponding to the motor stall current of 1.05 A), and the preset stall duration is 40 ms. It should be noted that the first sampling current threshold, the second sampling current threshold, and the preset stall duration can all be set according to the actual situation to ensure the safe and stable operation of the motor and the safety of the structural components of the target cover.

[0115] S2044. When the target sensor calibration status information is calibrated, determine the cover movement stop condition according to the sampled current of the motor stall or the cover opening angle.

[0116] In the specific implementation provided in the present application, if the target sensor calibration status information is calibrated, it means that the angle sensor corresponding to the target cover is currently in a calibrated state. In this case, determine the cover movement stop condition by the sampled current of the motor stall or the cover opening angle. The cover opening angle can be understood as the angle information collected by the angle sensor. In actual applications, the angle value in the case of the cover being closed is set to 0 degrees, and the process of the target cover from closed to fully opened is a process from 0 degrees to the preset opening angle. For example, if the preset opening angle is 90 degrees, the angle change of the target cover from the closed state to the fully opened state is from 0 degrees to 90 degrees.

[0117] In actual applications, if the target sensor calibration status information is calibrated, in addition to using the sampled current of the motor stall to determine whether the target cover has moved in place, the cover opening angle collected by the angle sensor can also be used to determine whether the target cover has moved in place. Since there will be some errors in both the sensor and the sampled current, in actual applications, both of them can be used as judgment conditions at the same time, and when any one of them is satisfied, it is determined that the target cover meets the cover movement stop condition.

[0118] Specifically, determining the cover movement stop condition according to the sampled current of the motor stall or the cover opening angle includes:

[0119] When the cover movement instruction is a cover opening instruction, determine that the cover movement stop condition is that the cover opening angle meets the opening angle threshold and lasts for a preset duration, or the sampled current of the motor stall reaches the third sampling current threshold and lasts for the preset stall duration;

[0120] When the cover body movement instruction is a cover body closing instruction, it is determined that the cover body movement stop condition is that the opening angle of the cover body meets the closing cover angle threshold and lasts for a preset duration, or the sampled current of the motor stall reaches the fourth sampled current threshold and lasts for a preset stall duration.

[0121] In this embodiment, a further explanation of the case where the calibration status information of the target sensor is calibrated. When the angle sensor corresponding to the target cover body has been calibrated, different cover body movement stop conditions will be set for different cover body movement instructions.

[0122] When the cover body movement instruction is a cover body opening instruction, it means to control the target cover body to perform an opening operation. At this time, the opening angle of the cover body is collected by the angle sensor. If the opening angle of the cover body meets the opening cover angle threshold and lasts for a preset duration, it means that the target cover body is opened in place from the dimension of the angle sensor. During this process, the current of the motor is also sampled. If the sampled current in the case of motor stall reaches the third sampled current threshold and lasts for a preset stall duration, it means that the target cover body is opened in place from the dimension of motor stall. Meeting one of the two conditions that the opening angle of the cover body and the sampled current of the motor stall reach the preset threshold can determine that the target cover body is opened in place.

[0123] It should be noted that in the method provided in the embodiments of the present application, the opening cover angle threshold can be a fixed angle threshold. For example, the opening cover angle threshold can be set to 60°, 70°, etc. However, in actual applications, the full opening angle range of the target cover body may not be 0° - 90°, and may be 0° - 120°, 0° - 110°, etc. If a fixed angle threshold is set, the full-speed operation time of the target cover body will be reduced, thereby increasing the time for opening and closing the cover. Therefore, in the method provided in the embodiments of the present application, the opening cover angle threshold can also be a relative angle threshold. For example, the opening cover angle threshold can be set to 70%, 80%, etc. of the full opening angle range. For example, when the full opening angle range of the target cover body is 0° - 110°, the opening cover angle threshold is set to 70% of the full range (i.e., 77°).

[0124] In actual applications, whether the opening cover angle threshold is set to a fixed angle threshold or a relative angle threshold can be determined according to the actual application scenario, and it is not limited in the embodiments of the present application.

[0125] Similarly, when the lid movement instruction is for the lid to close, it indicates that the target lid is to be controlled to perform a closing operation. When the lid opening angle collected by the angle sensor satisfies the lid closing angle threshold and lasts for a preset duration, it indicates that the target lid is in place for closing as determined from the dimension of the angle sensor. During this process, the current of the motor is also sampled. If the sampled current in the case of motor stalling reaches the fourth sampled current threshold and lasts for a preset stalling duration, then it is determined that the target lid is in place for closing from the dimension of motor stalling.

[0126] For the setting of the lid closing angle threshold, refer to the setting of the lid opening angle threshold. That is, the lid closing angle threshold can also be set as a fixed angle threshold or a relative angle threshold according to the actual situation. In this application, the setting of the lid closing angle threshold is not specifically limited.

[0127] It should be noted that in the embodiments of this application, the values of the first sampled current threshold, the second sampled current threshold, the third sampled current threshold, and the fourth sampled current threshold mentioned can be the same or can be set to different values according to the actual situation; the values of the preset duration corresponding to the lid opening angle and the preset stalling duration corresponding to the sampled current can be the same or can be set to different values according to the actual situation. In the method provided in the embodiments of this application, there is no limitation on this, and it depends on the actual application.

[0128] Step 206: Obtain at least two motor operation parameters according to the target sensor calibration status information and the lid movement instruction, where the at least two motor operation parameters respectively correspond to different operation time intervals.

[0129] Among them, the motor operation parameters can be understood as the operation parameters of the motor that controls the movement of the target lid during the process of controlling the target lid to move. The motor operation parameters at least include the operation duration and the duty cycle of the motor operation.

[0130] The duty cycle of the motor refers to the proportion of the power-on time in the total time within one cycle of the motor, usually expressed as a percentage. The range of the duty cycle is from 0% to 100%. Among them, 0% indicates that the motor stops running, and 100% indicates that the motor runs continuously. The larger the duty cycle, the faster the motor speed and the greater the motor output power. Conversely, the smaller the duty cycle, the slower the motor speed and the smaller the motor output power.

[0131] In the method provided in the embodiments of this application, during the process of controlling the target lid to execute the lid movement instruction, at least two motor operation parameters will be allocated to the motor. Specifically, the at least two motor operation parameters correspond to different operation time intervals during the movement of the target lid.

[0132] In practical applications, at least two motor operation parameters are required during the operation of the target cover body. The specific information also needs to be determined according to the target sensor calibration status information and the cover body movement instruction. The target sensor calibration status information includes uncalibrated and calibrated, and the cover body movement instruction includes a cover body opening instruction and a cover body closing instruction. Therefore, in the method provided in the embodiments of the present application, four situations are involved: opening the cover when the cover body is uncalibrated, closing the cover when the cover body is uncalibrated, opening the cover when the cover body is calibrated, and closing the cover when the cover body is calibrated. The following will explain these four situations separately.

[0133] In a specific implementation manner provided in the present application, at least two motor operation parameters are obtained according to the target sensor calibration status information and the cover body movement instruction, including S2062 - S2064:

[0134] S2062. When the target sensor calibration status information is uncalibrated, at least two motor operation parameters are obtained according to the cover body movement instruction.

[0135] In practical applications, first consider the target sensor calibration status information. If the target sensor calibration status information is uncalibrated, then at least two motor operation parameters can be obtained according to the cover body movement instruction. Specifically, obtaining at least two motor operation parameters according to the cover body movement instruction includes:

[0136] When the cover body movement instruction is a cover body opening instruction, the motor operation duty ratio is increased to a first duty ratio value within a first operation time interval, and the first duty ratio value is maintained within a second operation time interval;

[0137] When the cover body movement instruction is a cover body closing instruction, the motor operation duty ratio is increased to a second duty ratio value within a third operation time interval, and the second duty ratio value is maintained within a fourth operation time interval.

[0138] When the cover body movement instruction is the cover body opening instruction, it indicates that the target cover body needs to be controlled from the closed state to the open state. The initial state of the target cover body is the static state. During this process, the running time of the target cover body is divided into two time intervals, namely the first running time interval and the second running time interval. In the first running time interval, the motor duty ratio is increased from 0% to the first duty ratio value, and the first duty ratio value is maintained in the second running time interval. For example, taking the first duty ratio value as 50% and the first running time interval as 500 ms, the motor duty ratio is increased from 0% to 50% within 500 ms. The second running time interval refers to the running time interval from after the first running time interval until the cover body movement stop condition is reached. Still taking the first duty ratio value as 50% and the first running time interval as 500 ms as an example, after 500 ms is regarded as the second running time interval, and the motor runs at a 50% duty ratio after 500 ms. It should be noted that increasing the motor running duty ratio to the first duty ratio value in the first running time interval can be a linear increase, which can ensure the stable operation of the motor.

[0139] In addition, in this embodiment, when the target sensor calibration status information is uncalibrated, in this case, the first duty ratio value can be set to a relatively intermediate value to prevent the structural parts from being damaged due to the motor running at full duty ratio.

[0140] Similarly, if the cover body movement instruction is the cover body closing instruction, it indicates that the initial state of the target cover body is the static state. The process of moving the target cover body from the open state to the closed state is divided into two running time intervals. In the third running time interval, the motor duty ratio is increased from 0% to the second duty ratio value, and the second duty ratio value is maintained in the fourth running time interval. For example, taking the third running time interval as 400 ms and the second duty ratio value as 40% as an example, when the cover body closing instruction is received, the motor duty ratio is increased from 0% to 40% in the first 400 ms (the third running time interval), and the 40% duty ratio is maintained in the time interval after 400 ms (the fourth running time interval). It should be noted that increasing the motor running duty ratio to the second duty ratio value in the third running time interval can be a linear increase, which can ensure the stable operation of the motor.

[0141] S2064. When the target sensor calibration status information is calibrated, at least two motor running parameters are obtained according to the cover body movement instruction and the cover body opening angle.

[0142] If the target sensor calibration status information indicates that it has been calibrated, it means that the angle sensor corresponding to the target cover has been calibrated and can participate in the judgment in subsequent processing. Therefore, at least two motor operation parameters can be obtained based on the cover movement instruction and the cover opening angle. Specifically, obtaining at least two motor operation parameters based on the cover movement instruction and the cover opening angle includes:

[0143] When the cover movement instruction is a cover opening instruction, when the cover movement instruction is a cover opening instruction, the motor operation duty ratio is increased to a third duty ratio value within a fifth operation time interval, and the third duty ratio value is maintained within a sixth operation time interval until the cover opening angle is greater than or equal to a first angle threshold. The motor operation duty ratio is decreased from the third duty ratio value to a fourth duty ratio value within a seventh operation time interval and the fourth duty ratio value is maintained;

[0144] When the cover operation instruction is a cover closing instruction, the motor operation duty ratio is increased to a fifth duty ratio value within an eighth operation time interval, and the fifth duty ratio value is maintained within a ninth operation time interval until the cover opening angle is less than or equal to a second angle threshold. The motor operation duty ratio is decreased from the fifth duty ratio value to a sixth duty ratio value within a tenth operation time interval and the sixth duty ratio value.

[0145] In a specific embodiment provided in the present application, taking the cover movement instruction as an opening instruction as an example for illustration. At this time, to control the target cover from the closed state to the open state, the initial state of the target cover is a stationary state. In this case, the opening process can be divided into three stages. The first stage is the accelerating opening stage, the second stage is the uniform speed opening stage, and the third stage is the decelerating opening stage.

[0146] The accelerating opening stage is to enable the motor power to quickly reach the rated power and accelerate the opening of the target cover. The uniform speed opening stage is to keep the target cover running at a relatively high power. The decelerating opening stage is to reduce the motor power during the process of keeping the target cover open, so as to avoid sudden stop during the rapid movement of the target cover and cause damage to the structural parts.

[0147] In this embodiment, the first stage and the second stage are controlled by the running time, and the third stage is controlled by the opening angle of the cover obtained by the angle sensor. Specifically, the three stages in the scenario where the target sensor calibration status information is calibrated and the cover movement command is the cover opening command are respectively defined as the fifth running time interval, the sixth running time interval, and the seventh running time interval. In the fifth running time interval, the motor running duty ratio is increased to the third duty ratio value to achieve the accelerated opening of the target cover. In the sixth running time interval, the third duty ratio value is maintained and the opening angle of the cover is detected in real time, so as to achieve the uniform opening of the target cover.

[0148] When the opening angle of the cover is greater than or equal to the first angle threshold, it indicates that the target cover is already close to the fully opened state. At this time, in order to reduce the damage of the structural parts of the target cover, the decelerated opening stage is entered, that is, in the seventh running time period, the motor running duty ratio is reduced from the third duty ratio value to the fourth duty ratio value and the fourth duty ratio value is maintained.

[0149] For example, taking the cover of an intelligent cooking device as the target cover for explanation. In this embodiment, the angle sensor of the cover of the intelligent cooking device has been calibrated. When the cover opening command is received, the duty ratio of the motor is increased from 0% to 100% (the third duty ratio value) within 100 ms (the fifth running time interval), and the motor duty ratio of 100% is maintained in the subsequent running time interval (the sixth running time interval). At the same time, the opening angle of the cover collected by the angle sensor of the pot cover is obtained. When the opening angle of the cover reaches 60 degrees (the first angle threshold), the seventh running time interval is entered, and the motor duty ratio is reduced from 100% (the third duty ratio value) to 40% (the fourth duty ratio value), and the duty ratio of 40% is maintained.

[0150] It should be noted that in the process of reducing the motor duty ratio from the third duty ratio value to the fourth duty ratio value, the motor duty ratio can be first reduced from the third duty ratio value to the fourth duty ratio value within a preset time interval, for example, the motor duty ratio is reduced from 100% to 40% within 200 ms, and then the duty ratio of 40% is maintained and continued to run. The process of increasing the motor duty ratio to the third duty ratio value and the process of reducing it from the third duty ratio value to the fourth duty ratio value can both be linear processing processes.

[0151] In another specific embodiment provided by the present application, taking the cover movement command as the closing command as an example for description. At this time, it is necessary to control the target cover from the opened state to the closed state, and the initial state of the target cover is also the static state. In this case, similar to the cover opening process, the cover closing process can also be divided into three stages, the first stage is the accelerated closing stage, the second stage is the uniform closing stage, and the third stage is the decelerated closing stage.

[0152] The purposes and functions of the three stages of closing the lid are the same as those of the three stages of opening the lid, and will not be elaborated here. In this embodiment, the first stage and the second stage are controlled by the running time, and the third stage is controlled by the opening angle of the lid obtained by the angle sensor.

[0153] Specifically, the three stages in the scenario where the target sensor calibration status information is calibrated and the lid movement instruction is the lid closing instruction are respectively defined as the eighth running time interval, the ninth running time interval, and the tenth running time interval. In the eighth running time interval, the motor running duty ratio is increased to the fifth duty ratio value to achieve the accelerated closing of the target lid. In the ninth running time interval, the fifth duty ratio value is maintained for operation, and the opening angle of the lid is detected in real time, so as to achieve the uniform opening of the target lid.

[0154] When the opening angle of the lid is less than or equal to the second angle threshold, it indicates that the target lid is already close to the closed state. At this time, in order to reduce the damage of the structural parts of the target lid, the deceleration closing stage is entered, that is, in the tenth running time period, the motor running duty ratio is reduced from the fifth duty ratio value to the sixth duty ratio value and the sixth duty ratio value is maintained.

[0155] For example, still taking the lid of the intelligent cooking device as the target lid for explanation. In this embodiment, the angle sensor of the lid of the intelligent cooking device has been calibrated. When the lid closing instruction is received, the duty ratio of the motor is increased from 0% to 100% (the fifth duty ratio value) within 100 ms (the eighth running time interval), and the motor duty ratio is maintained at 100% for operation in the subsequent running time interval (the ninth running time interval). At the same time, the opening angle of the lid collected by the angle sensor of the lid is obtained. When the opening angle of the lid reaches 30 degrees (the second angle threshold), the tenth running time interval is entered, and the motor duty ratio is reduced from 100% (the fifth duty ratio value) to 20% (the sixth duty ratio value), and the duty ratio of 20% is maintained.

[0156] Similarly, in the process of reducing the motor duty ratio from the fifth duty ratio value to the sixth duty ratio value, the motor duty ratio can be first reduced from the fifth duty ratio value to the sixth duty ratio value within a preset time interval. For example, the motor duty ratio is reduced from 100% to 20% within 200 ms, and then the duty ratio of 20% is maintained for continued operation. The processes of increasing the motor duty ratio to the fifth duty ratio value and reducing it from the fifth duty ratio value to the sixth duty ratio value can both be linear processing processes.

[0157] The above is the process of obtaining at least two motor running parameters in different scenarios. The motor running parameters can all be dynamically set according to the actual situation in practical applications. In this application, only the setting process of the motor running parameters is restricted, and the specific values of the motor running parameters are not restricted.

[0158] It should be noted that the target sensor calibration status information restricts the highest duty ratio among at least two motor operating parameters. Specifically, when the target sensor calibration status information indicates uncalibrated, the motor operating parameters are less than those in the calibrated case. That is, the first duty ratio is less than the third duty ratio, and the second duty ratio is less than the fifth duty ratio.

[0159] Specifically, when the target sensor calibration status information indicates uncalibrated, the angle sensor cannot be used to determine the opening and closing position of the target cover. Therefore, a lower duty ratio is used for operation to prevent damage to the structural components caused by the relatively fast running speed of the target cover. When the target sensor calibration status information indicates calibrated, the angle sensor can be used to determine the opening and closing position of the target cover. Therefore, when the preset angle threshold is not reached, a higher duty ratio can be used for operation, and after reaching the preset angle threshold, a lower duty ratio is used for operation, thus achieving both reducing the running duration of the cover and reducing the risk of damage to the structural components.

[0160] In addition, for the specific limitations of the first angle threshold and the second angle threshold in this embodiment, refer to the limitations of the opening cover angle threshold and the closing cover angle threshold described above. That is, they can be set as fixed angle thresholds or relative angle thresholds.

[0161] Step 208: Control the target cover based on the motor operating parameters corresponding to each running time interval until the cover movement stop condition is reached.

[0162] After the target cover undergoes the processing of the above steps, at least two motor operating parameters of the target cover in the current state can be obtained, and each motor operating parameter corresponds to a running time interval. There is a sequential order among the running time intervals. Within each running time interval, the movement of the target cover can be controlled according to the corresponding motor operating parameter until the cover movement stop condition determined in the above embodiment is reached. After reaching the cover movement stop condition, the duty ratio of the motor can be set to 0%, that is, the operation of the motor is paused.

[0163] After the target cover reaches the cover movement stop condition, the motor can stop running. However, in practical applications, to prevent abnormal stoppage of the cover due to inertia and other reasons. For example, during the operation of the cover, even if the cover movement stop condition is reached, due to inertia, the cover will continue to run, thus causing damage to the structural components. In the method provided in this application, a locking operation is also performed on the target cover. In another specific embodiment provided in this application, the method further includes:

[0164] When the condition for the movement of the cover body to stop is reached, control the target cover body according to the preset operating parameters of the locking motor until the target cover body stops moving.

[0165] When it is detected that the target cover body reaches the condition for the movement of the cover body to stop, the target cover body can be locked according to the preset operating parameters of the locking motor until the target cover body stops moving, preventing abnormal structural parts of the target cover body due to inertia. For example, taking the preset operating parameters of the locking motor as a duty cycle of 20% and locking for 800 ms as an example, that is, when the target cover body is in the process of moving and reaches the condition for the movement of the cover body to stop, the locking process is performed on the target cover body with a duty cycle of 20% for 800 ms to ensure that the target cover body stops moving, and the operation of the motor stops after 800 ms.

[0166] In a specific embodiment provided by the present application, the method further includes:

[0167] When the target sensor calibration status information is uncalibrated and the cover body movement instruction is a cover body opening instruction, correct the angle sensor of the target cover body according to the initial angle information of the target cover body in the closed state and the target angle information of the target cover body when it stops moving, and update the target sensor calibration status information of the angle sensor to calibrated.

[0168] In this embodiment, it is further defined that when the target sensor calibration status information is uncalibrated and the cover body movement instruction is a cover body opening instruction, the calibration of the angle sensor can be realized through the opening process of the target cover body.

[0169] Specifically, record the initial angle information of the target cover body in the closed state, and at the same time record the target angle information of the target cover body after it stops moving, and calibrate the angle sensor through the initial angle information and the target angle information. After the calibration is completed, update the target sensor calibration status information of the angle sensor to calibrated.

[0170] The cover body control method provided by the embodiments of the present application, after receiving the cover body movement instruction for the target cover body, obtains the motor operating parameters corresponding to at least two operating time intervals according to the target sensor calibration status information and the cover body movement instruction, and improves the operating speed of the motor through at least two motor operating parameters, thereby improving the operating speed of the target cover body. At the same time, it can also reduce the damage of the structural parts of the target cover body caused by too fast operating speed.

[0171] In addition, during the acquisition of the motor operating parameters, different motor operating parameters are selected according to whether the angle sensor is calibrated. When the angle sensor is not calibrated, a lower duty ratio is selected for movement to prevent damage to the structural components caused by excessive speed. When the angle sensor has been calibrated, braking judgment can be provided for the target cover through an angle threshold. When the angle threshold is not reached, the target cover can move at a higher duty ratio, thereby shortening the movement time of the target cover. When the angle threshold is reached, it moves at a lower duty ratio to prevent abnormal structural components caused by excessive speed. Further, it not only improves the operating speed of the target cover but also protects the structural components of the target cover.

[0172] The following combines the attached Figure 3 , taking the application of the cover control method provided by this application in an intelligent cooking device as an example, further explains the cover control method. Among them, Figure 3 FIG. shows a processing flowchart of a cover control method applied to an intelligent cooking device provided by an embodiment of this application. In this embodiment, taking the angle sensor corresponding to the pot lid in the intelligent cooking device not being calibrated as an example for explanation, it specifically includes the following steps:

[0173] Step 302: Receive a cover opening instruction for the pot lid, where the pot lid is the pot lid of the intelligent cooking device.

[0174] Step 304: Determine whether the pot lid meets the cover movement stop condition. If not, execute step 306; if so, execute step 308.

[0175] In the method provided by the embodiment of this application, the cover movement stop condition is that the sampled current of the motor stall reaches 105 (actual current is about 1.4 A) and maintains for 40 ms.

[0176] Step 306: The operating duty ratio is increased from 0% to 50% in the first 500 ms and remains at 50% after 500 ms.

[0177] Step 308: Lock at an operating duty ratio of 20% for a locking time of 800 ms.

[0178] The following combines the attached Figure 4 , taking the application of the cover control method provided by this application in an intelligent cooking device as an example, further explains the cover control method. Among them, Figure 4 FIG. shows a processing flowchart of a cover control method applied to an intelligent cooking device provided by another embodiment of this application. In this embodiment, taking the angle sensor corresponding to the pot lid in the intelligent cooking device not being calibrated as an example for explanation, it specifically includes the following steps:

[0179] Step 402: Receive a lid closing instruction for the pot lid, where the pot lid is the pot lid of an intelligent cooking device.

[0180] Step 404: Determine whether the pot lid meets the lid movement stop condition. If not, execute Step 406; if so, execute Step 408.

[0181] In the method provided in the embodiments of the present application, the lid movement stop condition is that the sampled current of the motor stall reaches 78 (the actual current is about 1.05 A) and remains for 40 ms.

[0182] Step 406: Increase the running duty cycle from 0% to 40% in the first 400 ms, and maintain a running duty cycle of 40% after 400 ms.

[0183] Step 408: Lock with a running duty cycle of 20%, and the locking time is 800 ms.

[0184] The following combines the attached Figure 5 , taking the application of the lid control method provided in the present application in an intelligent cooking device as an example, to further illustrate the lid control method. Among them, Figure 5 shows a processing flow chart of a lid control method applied to an intelligent cooking device provided in another embodiment of the present application. In this embodiment, it is explained by taking the angle sensor corresponding to the pot lid in the intelligent cooking device as calibrated as an example, and specifically includes the following steps:

[0185] Step 502: Receive a lid opening instruction for the pot lid, where the pot lid is the pot lid of an intelligent cooking device.

[0186] Step 504: Determine whether the pot lid is greater than or equal to the first angle threshold. If not, execute Step 506; if so, execute Step 508.

[0187] In this embodiment, the first angle threshold is set to 60°.

[0188] Step 506: Increase the running duty cycle from 0% to 100% in the first 200 ms, and maintain a running duty cycle of 100% after 200 ms.

[0189] Step 508: Decrease the running duty cycle from 100% to 40% in the first 200 ms, and maintain a running duty cycle of 40% after 200 ms.

[0190] Step 510: Determine whether the pot lid meets the lid movement stop condition. If not, execute Step 508; if so, execute Step 512.

[0191] In the method provided in the embodiments of the present application, the condition for the cover body to stop moving is that the sampled current of the motor stall reaches 97 (the actual current is about 1.3 A) and is maintained for 20 ms, or the opening angle of the cover body reaches the opening angle threshold and is maintained for 20 ms.

[0192] Step 512: Lock with an operating duty cycle of 20%, and the locking time is 800 ms.

[0193] The following combines the attached Figure 6 , taking the application of the cover body control method provided in the present application in an intelligent cooking device as an example, the cover body control method will be further described. Among them, Figure 6 The flowchart of a cover body control method applied to an intelligent cooking device provided in another embodiment of the present application is shown. In this embodiment, it is explained by taking the angle sensor corresponding to the pot lid in the intelligent cooking device as calibrated as an example, and specifically includes the following steps:

[0194] Step 602: Receive a cover body closing instruction for the pot lid, where the pot lid is the pot lid of the intelligent cooking device.

[0195] Step 604: Determine whether the pot lid is less than or equal to the second angle threshold. If not, execute step 606; if so, execute step 608.

[0196] In this embodiment, the second angle threshold is set to 30°.

[0197] Step 606: The operating duty cycle is increased from 0% to 100% in the first 200 ms, and the operating duty cycle of 100% is maintained after 200 ms.

[0198] Step 608: The operating duty cycle is decreased from 100% to 20% in the first 200 ms, and the operating duty cycle of 20% is maintained after 200 ms.

[0199] Step 610: Determine whether the pot lid meets the condition for the cover body to stop moving. If not, execute step 608; if so, execute step 612.

[0200] In the method provided in the embodiments of the present application, the condition for the cover body to stop moving is that the sampled current of the motor stall reaches 40 (the actual current is about 0.53 A) and is maintained for 20 ms, or the opening angle of the cover body reaches the closing angle threshold and is maintained for 20 ms.

[0201] Step 612: Lock with an operating duty cycle of 20%, and the locking time is 800 ms.

[0202] Corresponding to the above method embodiments, the present application also provides embodiments of a cover body control device. Figure 7 The structural schematic diagram of a cover body control device provided in an embodiment of the present application is shown. AsFigure 7 As shown, the device includes:

[0203] A receiving module 702, configured to receive a cover movement instruction for a target cover;

[0204] An obtaining module 704, configured to obtain at least two motor operation parameters according to the cover movement instruction, wherein the at least two motor operation parameters respectively correspond to different operation time intervals;

[0205] A control module 706, configured to control the target cover based on the motor operation parameters corresponding to each operation time interval.

[0206] Optionally, the receiving module 702 is further configured to:

[0207] Receive a cover opening instruction or a cover closing instruction for the target cover;

[0208] Optionally, the device further includes a determining module, configured to:

[0209] Determine the target sensor calibration status information corresponding to the target cover, and determine the cover movement stop condition corresponding to the target sensor calibration status information, wherein the target sensor calibration status information is uncalibrated or calibrated;

[0210] Correspondingly, the obtaining module 704 is further configured to:

[0211] Obtain at least two motor operation parameters according to the target sensor calibration status information and the cover movement instruction;

[0212] The control module 706 is further configured to control the target cover based on the motor operation parameters corresponding to each operation time interval until the cover movement stop condition is reached.

[0213] Optionally, the device further includes a locking module, configured to:

[0214] In the case where the cover movement stop condition is reached, control the target cover according to the preset locking motor operation parameters until the target cover stops moving.

[0215] Optionally, the determining module is further configured to:

[0216] In the case where the target sensor calibration status information is uncalibrated, determine the cover movement stop condition according to the sampled current of motor stall;

[0217] In the case where the target sensor calibration status information is calibrated, determine the cover movement stop condition according to the sampled current of motor stall or the cover opening angle.

[0218] Optionally, the determining module is further configured to:

[0219] When the cover body movement instruction is a cover body opening instruction, determine that the cover body movement stop condition is that the sampled current of the motor stalling reaches a first sampled current threshold and lasts for a preset stalling duration;

[0220] When the cover body movement instruction is a cover body closing instruction, determine that the cover body movement stop condition is that the sampled current of the motor stalling reaches a second sampled current threshold and lasts for a preset stalling duration.

[0221] Optionally, the determining module is further configured to:

[0222] When the cover body movement instruction is a cover body opening instruction, determine that the cover body movement stop condition is that the cover body opening angle meets an opening cover angle threshold and lasts for a preset duration, or the sampled current of the motor stalling reaches a third sampled current threshold and lasts for a preset stalling duration;

[0223] When the cover body movement instruction is a cover body closing instruction, determine that the cover body movement stop condition is that the cover body opening angle meets a closing cover angle threshold and lasts for a preset duration, or the sampled current of the motor stalling reaches a fourth sampled current threshold and lasts for a preset stalling duration.

[0224] Optionally, the obtaining module 704 is further configured to:

[0225] When the target sensor calibration status information is uncalibrated, obtain at least two motor operation parameters according to the cover body movement instruction;

[0226] When the target sensor calibration status information is calibrated, obtain at least two motor operation parameters according to the cover body movement instruction and the cover body opening angle.

[0227] Optionally, the obtaining module 704 is further configured to:

[0228] When the cover body movement instruction is a cover body opening instruction, increase the motor operation duty ratio to a first duty ratio value within a first operation time interval, and maintain the first duty ratio value within a second operation time interval;

[0229] When the cover body movement instruction is a cover body closing instruction, increase the motor operation duty ratio to a second duty ratio value within a third operation time interval, and maintain the second duty ratio value within a fourth operation time interval.

[0230] Optionally, the obtaining module 704 is further configured to:

[0231] When the cover body movement instruction is the cover body opening instruction, within the fifth operation time interval, the motor operation duty ratio is increased to the third duty ratio value, and within the sixth operation time interval, the third duty ratio value is maintained until the opening angle of the cover body is greater than or equal to the first angle threshold. Within the seventh operation time interval, the motor operation duty ratio is decreased from the third duty ratio value to the fourth duty ratio value and the fourth duty ratio value is maintained;

[0232] When the cover body movement instruction is the cover body closing instruction, within the eighth operation time interval, the motor operation duty ratio is increased to the fifth duty ratio value, and within the ninth operation time interval, the fifth duty ratio value is maintained until the opening angle of the cover body is less than or equal to the second angle threshold. Within the tenth operation time interval, the motor operation duty ratio is decreased from the fifth duty ratio value to the sixth duty ratio value and the sixth duty ratio value.

[0233] Optionally, the device further includes a calibration module, configured to:

[0234] When the target sensor calibration status information is uncalibrated and the cover body movement instruction is the cover body opening instruction, the angle sensor of the target cover body is corrected according to the initial angle information of the target cover body in the closed state and the target angle information of the target cover body when it stops moving, and the target sensor calibration status information of the angle sensor is updated to calibrated.

[0235] Optionally, the device further includes a calculation module, configured to:

[0236] Obtain the initial current of the motor stall;

[0237] Calculate the sampling current corresponding to the initial current according to the rated voltage value and the sampling resistance value.

[0238] After receiving the cover body movement instruction for the target cover body, the cover body control device provided in the embodiment of the present application obtains the motor operation parameters corresponding to at least two operation time intervals according to the target sensor calibration status information and the cover body movement instruction, and improves the operation speed of the motor through at least two motor operation parameters, thereby improving the operation speed of the target cover body. At the same time, it can also reduce the damage of the structural parts of the target cover body caused by too fast operation speed.

[0239] In addition, during the acquisition of the motor operating parameters, different motor operating parameters are selected according to whether the angle sensor is calibrated. When the angle sensor is not calibrated, a lower duty ratio motion is selected to prevent damage to the structural components caused by excessive speed. When the angle sensor has been calibrated, braking judgment can be provided for the target cover body through an angle threshold. When the angle threshold is not reached, the target cover body can move at a higher duty ratio, thereby shortening the movement time of the target cover body. When the angle threshold is reached, it moves at a lower duty ratio to prevent abnormal structural components caused by excessive speed. Further, it not only improves the operating speed of the target cover body but also protects the structural components of the target cover body.

[0240] The above is a schematic solution of a cover body control device according to this embodiment. It should be noted that the technical solution of this cover body control device and the technical solution of the above cover body control method belong to the same concept. For the details not described in the technical solution of the cover body control device, reference can be made to the description of the technical solution of the above cover body control method.

[0241] An embodiment of the present application further provides a cooking device. Figure 8 The figure shows a schematic diagram of a cooking device provided by an embodiment of the present application.

[0242] As Figure 8 shown in (a) of [reference], the cooking device includes a base part 803. The base part 803 is provided with a pot body 801, a motor 804, and a transmission mechanism 805 that is drivingly connected to the motor. The cooking device further includes a cross beam arm 806. The cross beam arm 806 is connected to the transmission mechanism 805 and is driven by the transmission mechanism 805 to rotate relative to the base part 803.

[0243] A pot lid 802 is further provided on the cross beam arm 806. The rotation of the cross beam arm 806 drives the pot lid 802 to cover or separate from the pot body 801.

[0244] The cooking device further includes a travel sensor, a memory (not shown in the figure), and a processor (not shown in the figure). The travel sensor is used to detect the movement travel of the cross beam arm. The memory is used to store computer programs / instructions. The processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above cover body control method and the control method for the cooking device are implemented.

[0245] The base part includes a heating module, a control module, etc. The heating module is used to heat the pot body, and the control module is used to control the cooking device to perform corresponding operations. The cooking device also includes a motor 804. The motor is connected to the cross beam arm 806 through a transmission mechanism 805. A pot lid 802 and a stirring shovel are provided on the cross beam arm.

[0246] Figure 8 In (b), it is a schematic diagram of the switch cover of the cooking device. The motor in the cooking device drives the crossbeam arm to rotate relative to the base part through the transmission mechanism, thereby driving the pot cover to move away from or close to the pot body, realizing the operation of opening or closing the pot cover.

[0247] Figure 8 In (c), it is a schematic diagram of the pot cover of the cooking device being fully opened. The motor in the cooking device drives the crossbeam arm to rotate through the transmission mechanism to open the pot cover. The dish is put into the pot body by the dish feeding device 807.

[0248] Embodiment 1

[0249] Embodiment 1 provides a method for controlling the opening and closing of the pot cover in the prior art. In this embodiment, the process of opening or closing the pot cover only includes 3 stages. The first stage is the starting stage. In this stage, the duty ratio of the motor increases from 0% to 100%. The second stage is the running stage. The motor runs at a duty ratio of 100% until the pot cover moves in place. The third stage is the braking stage. After the pot cover moves in place, the duty ratio decreases from 100% to 20% to realize the braking of the pot cover.

[0250] Figure 9 It shows a schematic diagram of the relationship between the opening angle of the pot cover and the current value. The schematic diagram of the relationship between the opening angle of the pot cover and the current value in the process of opening and closing the pot cover provided in this embodiment is as Figure 9 shown in (a). In the prior art solution, the process of opening the pot cover is 1, 2, 3, and the process of closing the pot cover is 4, 5, 6.

[0251] Process of opening the pot cover: In the starting stage of 1, the duty ratio of the motor increases from 0% to 100%; in the running stage of 2, the duty ratio of the motor maintains 100% operation; in the braking stage of 3, after the pot cover moves in place or reaches the critical position, braking starts, and the duty ratio decreases from 100% to 20%.

[0252] Process of closing the pot cover: In the starting stage of 4, the duty ratio of the motor increases from 0% to 100%; in the running stage of 5, the duty ratio of the motor maintains 100% operation; in the braking stage of 6, after the pot cover moves in place or reaches the critical position, braking starts, and the duty ratio decreases from 100% to 20%.

[0253] In the method provided in Embodiment 1, there is no stage where the pot cover runs at a low speed, and the pot cover cannot be braked in time. The high-speed movement will impact the transmission mechanism and the base part at the end position, causing impact damage to the structural parts of the cooking device.

[0254] Embodiment 2

[0255] Embodiment 2 is a control method for a cooking device provided in the embodiments of the present application. In the method provided in the embodiments of the present application, both the lid-opening process and the lid-closing process are divided into 5 stages. The schematic diagram of the relationship between the lid-opening angle and the current value during the lid-opening process and the lid-closing process provided in the embodiments of the present application is as shown in Figure 9 shown in (b) of

[0256] The first stage of the lid-opening process is the start-up stage, and the motor duty cycle ranges from 0% to 100%; the second stage is the running stage, and the motor duty cycle maintains 100% operation; the third stage is the pre-braking stage, which starts pre-braking when the lid-opening angle reaches the first preset angle threshold (such as 2 / 3 of the total stroke), and the motor duty cycle decreases from 100% to 40%; the fourth stage is the low-speed running stage, where the lid movement in place can be more accurately identified during the low-speed running stage, and the time for low-speed running is reserved. The shorter the low-speed running time, the shorter the total time for the lid to open. The motor duty cycle is maintained at 40% in the fourth stage; the fifth stage is the re-braking stage, where the motor duty cycle is further reduced from 40% to 20% in this stage, so as to realize the braking of the lid and avoid the high-speed movement from impacting the structural parts.

[0257] Corresponding to the lid-opening process, the lid-closing process provided in this embodiment is also divided into 5 stages. The first stage is the start-up stage, and the motor duty cycle ranges from 0% to 100%; the second stage is the running stage, and the motor duty cycle maintains 100% operation; the third stage is the pre-braking stage, which starts pre-braking when the lid-opening angle reaches the second preset angle threshold (such as 1 / 3 of the total stroke), and the motor duty cycle decreases from 100% to 25%; the fourth stage is the low-speed running stage, and the motor duty cycle is maintained at 25%; the fifth stage is the re-braking stage, where the motor duty cycle is further reduced from 25% to 20% in this stage, so as to realize the braking of the lid and avoid the high-speed movement from impacting the structural parts.

[0258] It should be noted that in the method provided in the embodiments of the present application, the motor duty cycle in the fourth stage of the lid-opening process is usually higher than that in the lid-closing process. The reason is that the gravity of the lid needs to be overcome during the lid-opening process, and the gravity of the lid also has an accelerating effect on the lid during the lid-closing process. In order to prevent the lid from hitting the pot body during the lid-closing process, the motor duty cycle can be reduced in the fourth stage of the lid-closing process.

[0259] Embodiment 3

[0260] In this embodiment, a specific implementation for calibrating the angle sensor is also provided. In practical applications, if the angle sensor of the pot lid is abnormal (such as uncalibrated or calibration failure), the angle sensor can be calibrated during the opening process of the pot lid. During the calibration process, since the first angle threshold for the pot lid to open cannot be known, if a large motor duty ratio is directly used, it will cause the inability to enter the low-speed operation stage in time. Therefore, when the angle sensor is abnormal, the motor runs with a small duty ratio to prevent the pot lid from running too fast and causing an impact on the structural components.

[0261] A schematic diagram showing the relationship between the opening angle of the pot lid and the current value during the lid opening process and the lid closing process when the angle sensor is abnormal is as Figure 9 shown in (c) of the figure. In the first 500 ms of the lid opening process, the motor duty ratio is increased from 0% to 50% and maintained at a 50% duty ratio to run, and current protection is used to determine whether the lid opening is in place. During the lid closing process, the motor duty ratio is increased from 0% to 40% and maintained at a 40% duty ratio to run, and current protection is used to determine whether the lid closing is in place.

[0262] An embodiment of this specification also provides a computer-readable storage medium, which stores computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above-mentioned lid control method and the control method for cooking equipment are implemented.

[0263] The above is a schematic solution of a computer-readable storage medium in this embodiment. It should be noted that the technical solution of this storage medium and the technical solutions of the above-mentioned lid control method and the control method for cooking equipment belong to the same concept. For the details not described in detail in the technical solution of the storage medium, reference can be made to the descriptions of the technical solutions of the above-mentioned lid control method and the control method for cooking equipment.

[0264] An embodiment of this specification also provides a computer program product, including computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above-mentioned lid control method and the control method for cooking equipment are implemented.

[0265] The above is a schematic solution of a computer program product in this embodiment. It should be noted that the technical solution of this computer program product and the technical solutions of the above-mentioned lid control method and the control method for cooking equipment belong to the same concept. For the details not described in detail in the technical solution of the computer program product, reference can be made to the descriptions of the technical solutions of the above-mentioned lid control method and the control method for cooking equipment.

[0266] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0267] The computer instructions include computer program code, which may be in source code form, object code form, executable file, or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, removable hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0268] It should be noted that for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0269] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0270] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The alternative embodiments do not elaborate on all the details and do not limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of the present application. The present application selects and specifically describes these embodiments to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and utilize the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A control method for a cooking device, the cooking device comprising a base portion and a crossbeam arm, the base portion being provided with a cooking pot, a motor, and a transmission mechanism drivingly connected to the motor, the crossbeam arm being connected to the transmission mechanism and driven by the transmission mechanism to rotate relative to the base portion, a cooking pot lid being further provided on the crossbeam arm, and the crossbeam arm rotating to drive the cooking pot lid to cover or separate from the cooking pot; the cooking device further comprising a travel sensor for detecting the movement travel of the crossbeam arm, wherein, the control method comprises: receiving a movement instruction for the cooking pot lid and starting the motor to drive the crossbeam arm and the cooking pot lid to move; within a first time interval, increasing the duty cycle of the motor; within a second time interval, maintaining the duty cycle of the motor at a first duty cycle until the crossbeam arm moves to a first movement travel; within a third time interval, adjusting the duty cycle of the motor to continuously decrease from the first duty cycle; within a fourth time interval, maintaining the duty cycle of the motor at a second duty cycle until the crossbeam arm moves to a second movement travel; within a fifth time interval, adjusting the duty cycle of the motor to continuously decrease from the second duty cycle to a third duty cycle.

2. The method according to claim 1, characterized in that, Receiving a movement instruction for the cooking pot lid includes: receiving a cooking pot lid opening instruction or a cooking pot lid closing instruction for the cooking pot lid.

3. The method according to claim 1, characterized in that, Until the crossbeam arm moves to a first movement travel includes: until the crossbeam arm drives the cooking pot lid to move to a first angle threshold; Correspondingly, until the crossbeam arm moves to a second movement travel includes: until the crossbeam arm drives the cooking pot lid to move to a second angle threshold.

4. The method according to claim 3, wherein The first angle threshold includes a first fixed angle threshold or a first relative angle threshold; The second angle threshold includes a second fixed angle threshold or a second relative angle threshold; wherein, the first relative angle threshold and the second relative angle threshold are preset percentages of the opening angle range.

5. The method according to claim 1, wherein The method further comprises: maintaining the duty cycle of the motor at the third duty cycle until the crossbeam arm stops moving.

6. The method according to claim 1, characterized in that, The cooking device comprises an angle sensor for determining the sensor calibration status information of the cooking pot lid, in the case where the sensor calibration status information is uncalibrated; The method further comprises: receiving a calibration movement instruction for the cooking pot lid and starting the motor to drive the crossbeam arm and the cooking pot lid to move; within a first calibration time interval, increasing the duty cycle of the motor; within a second calibration time interval, maintaining the duty cycle of the motor at a fourth duty cycle until the sampled current of motor stall reaches a preset sampled current threshold and lasts for a preset stall duration.

7. The method according to claim 6, wherein The method further comprises: within a third calibration time interval, adjusting the duty cycle of the motor to continuously decrease from the fourth duty cycle to a fifth duty cycle until the crossbeam arm stops moving.

8. The method according to claim 6, wherein The method further comprises: acquiring the initial current of motor stall; calculating the sampled current corresponding to the initial current according to the rated voltage value and the sampled resistance value.

9. The method according to claim 6, wherein The method further comprises: Calibrate the angle sensor according to the initial angle information of the pot lid and the target angle information when the pot lid stops moving, and update the target sensor calibration status information of the angle sensor to calibrated.

10. A cooking device, characterized in that, Including: A base part, which is provided with a pot body, a motor, and a transmission mechanism that is drivingly connected to the motor; A cross beam arm, which is connected to the transmission mechanism and is driven by the transmission mechanism to rotate relative to the base part. A pot lid is also arranged on the cross beam arm, and the rotation of the cross beam arm drives the pot lid to cover or separate from the pot body; A travel sensor, which is used to detect the movement travel of the cross beam arm; A memory and a processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the method according to any one of claims 1 to 9 are implemented.

11. A computer-readable storage medium storing computer programs / instructions, characterized in that, When the computer programs / instructions are executed by the processor, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer program product comprising a computer program / instructions, characterized in that, When the computer programs / instructions are executed by the processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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