Cooking device and control method thereof

Abstract

The invention relates to a cooking device and a control method thereof.The cooking device comprises a range hood and a stove located below the range hood, the range hood comprises a smoke collecting hood, an air inlet assembly and a lifting module for driving the air inlet assembly to ascend and descend, and the cooking device is characterized by further comprising two cameras, a controller and a controller, comprising a first camera and a second camera which are distributed on the front side of the exhaust fume collecting hood left and right at an interval; the controller is electrically connected with the first camera, the second camera and the lifting module, and the controller is configured to analyze an image, shot by the first camera and the second camera, of a first target point at the top of a cookware placed on the cooker and an image, shot by the first camera and the second camera, of a second target point at the bottom of the air inlet assembly; the distance between the top of a cookware placed on the stove and the bottom of the air inlet assembly is calculated, and then the lifting module is controlled to act. According to the device, the situation that the air inlet assembly ascends and descends to touch the cookware can be effectively avoided, and the use experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of kitchen appliances, and in particular to a cooking device and a control method thereof. Background Art

[0002] Range hoods are essential appliances for people to absorb oil fumes during daily cooking. Traditional range hoods generally provide users with a fixed air inlet height, but the oil fume extraction effect is difficult to match with pots and pans.

[0003] To solve the above problems, a Chinese utility model patent with patent number ZL202322037858.2 (authorization announcement number CN220506839U) discloses a lift-type range hood. The lift-type range hood can adjust the height of the air inlet during operation to adapt to pots of different heights and sizes. When close to the pot, a lower gear is used to absorb oil fumes, which can reduce noise and achieve better oil fume absorption effect. When at a higher position away from the pot, a large gear is used to increase the air volume to ensure the oil fume absorption effect, slightly sacrificing noise.

[0004] However, the aforementioned lift-type range hood is prone to hitting pots or pot lids during the lifting process. The prior art generally uses microwave distance sensors for pot detection. However, microwave distance sensors are primarily for single-point distance detection. Therefore, if a fixed distance sensor is placed in the middle, it cannot detect the edge of the pot when the pot lid is not covered (the edge is higher at this time). Furthermore, when the distance sensor is placed at the edge to detect the pot edge, because the diameters of pots in different users' homes vary, and sometimes users cover the pot lid (in which case the middle pot lid handle is higher), it is difficult to balance detection at different positions and cannot adapt to detection of pots of different diameters. Consequently, it is inevitable that the lifting air inlet may hit the pot, causing the pot to be crushed or an accident. Therefore, further improvements to the prior art are needed. Summary of the Invention

[0005] The first technical problem to be solved by the present invention is to provide a cooking device that can effectively prevent the air inlet assembly from touching the pot due to the lifting of the air inlet assembly in response to the above-mentioned prior art.

[0006] The second technical problem to be solved by the present invention is to provide a control method for the cooking device as described above.

[0007] The present invention solves the first technical problem by adopting a technical solution: a cooking device comprising a range hood and a stove located below the range hood, wherein the range hood comprises a fume hood, an air inlet assembly constrained on the fume hood so as to be able to rise and fall relative to the fume hood, and a lifting module for driving the air inlet assembly to rise and fall, and is characterized by further comprising:

[0008] Two cameras, including a first camera and a second camera, spaced apart on the left and right sides of the front side of the smoke hood;

[0009] A controller is electrically connected to the first camera, the second camera, and the lifting module. The controller is configured to analyze images of a first target point on the top of the pot placed on the cooktop taken by the first camera and the second camera, and images of a second target point on the bottom of the air inlet assembly taken by the first camera and the second camera, so as to calculate the distance between the top of the pot placed on the cooktop and the bottom of the air inlet assembly, and then control the lifting module to perform corresponding actions.

[0010] Preferably, the first target point is the highest point on the top edge of the cookware.

[0011] Preferably, the second target point is the lowest point on the bottom edge of the air inlet assembly.

[0012] Preferably, the imaging planes of the first camera and the second camera are in the same plane, and the optical axes of the first camera and the second camera are both perpendicular to the corresponding imaging plane and pass through the center of the corresponding imaging plane.

[0013] Preferably, the first camera and the second camera are both tilted downward at a certain angle to the horizontal direction.

[0014] Preferably, the first camera and the second camera are both arranged adjacent to the front bottom of the smoke collection hood.

[0015] The technical solution adopted by the present invention to solve the second technical problem is: a control method of the cooking device as described above, characterized by comprising the following steps:

[0016] Step 1: Start the first camera and the second camera;

[0017] Step 2: Use the first camera and the second camera to capture an image of the top of the pot placed on the stove. Set the horizontal direction as the X axis, the depth direction as the Z axis, and the direction perpendicular to both the X axis and the Z axis as the Y axis to establish a coordinate system. The first target point on the top of the pot placed on the stove on the imaging surface of the first camera is recorded as M. 左 , the first target point of the top of the pot placed on the stove on the imaging surface of the second camera is recorded as M 右 ;

[0018] Step 3: Based on the image in step 2, M 左 The coordinates and M 右 The Z-axis coordinate of the first target point on the top of the pot placed on the first cooktop is calculated based on the coordinates of the first target point, and the X-axis coordinate and the Y-axis coordinate of the first target point on the top of the pot placed on the first cooktop are calculated based on the Z-axis coordinate, that is, the three-dimensional coordinates of the first target point on the top of the pot placed on the first cooktop are obtained;

[0019] Step 4: Use the first camera and the second camera to capture an image of the bottom of the air inlet assembly, and obtain the three-dimensional coordinates of the second target point on the bottom of the air inlet assembly in the same manner as steps 2 and 3;

[0020] Step 5: Calculate the distance Δd between the top of the pot placed on the first cooktop and the bottom of the air inlet assembly based on the three-dimensional coordinates of a first target point on the top of the pot placed on the first cooktop and the three-dimensional coordinates of a second target point on the bottom of the air inlet assembly. Determine based on the distance Δd whether the pot placed on the cooktop will not collide with the bottom of the air inlet assembly. If so, proceed to Step 6. If not, control the air inlet assembly to rise, and control the range hood fan to adjust to a corresponding operating gear based on the distance between the bottom of the raised air inlet assembly and the top of the pot placed on the cooktop.

[0021] Step 6: Determine whether the air inlet assembly has been lowered to the lowest position. If so, control the lifting module to stop and switch or maintain the range hood fan at a low gear, and end. If not, control the lifting module to continue to move so that the air inlet assembly continues to descend, and proceed to step 2.

[0022] Specifically, the calculation formula for the Z-axis coordinate z of the first target point on the top of the pot placed on the first cooktop in step 3 is:

[0023]

[0024] Where f is the focal length of the first camera and the second camera, L is the installation distance between the centers of the first camera and the second camera; Xm2 is M 右 X-axis coordinate of M 左 The X-axis coordinate of .

[0025] Specifically, the calculation formulas for the X-axis coordinate x and the Y-axis coordinate y of the first target point on the top of the pot placed on the first cooktop in step 3 are:

[0026]

[0027] Among them, u 左 is the X-axis coordinate of the origin of the coordinate system of the first camera at the point corresponding to the imaging surface, and ym1 is M 左 The Y-axis coordinate, v 左 is the Y-axis coordinate of the point on the imaging surface corresponding to the origin of the coordinate system of the first camera.

[0028] Specifically, step 2 also includes the following processing: correcting the images of the top of the pot placed on the stove taken by the first camera and the second camera, and performing position matching on the images of the top of the pot placed on the stove taken by the first camera and the second camera.

[0029] Specifically, in step 5, the specific control logic for controlling the fan of the range hood to adjust to the corresponding working gear according to the distance h between the bottom of the raised air inlet assembly and the top of the pot placed on the cooker is:

[0030] When h

[0031] When h1≤h<h2, the range hood fan is controlled to adjust to the middle gear;

[0032] When h≥h2, the range hood fan is controlled to adjust to a high position;

[0033] Wherein, h1 and h2 are both preset constants.

[0034] Compared with the prior art, the present invention has the following advantages: by providing two cameras and a controller electrically connected to the two cameras, the two cameras analyze images of a first target point on the top of a pot placed on the stove, and images of a second target point on the bottom of the air inlet assembly, to calculate the distance between the top of the pot placed on the stove and the bottom of the air inlet assembly, thereby controlling the lifting module to perform corresponding actions. Therefore, the cooking device can intelligently detect whether the air inlet assembly in the space between the range hood and the stovetop will collide with the pot during lifting and lowering, and adjust the height of the air inlet assembly in a timely manner. Furthermore, the camera detection method can adapt to a variety of pots, which has a wider range of applicability than distance sensors, effectively preventing the air inlet assembly from contacting the pot during lifting and lowering, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic structural diagram of a cooking device according to an embodiment of the present invention;

[0036] Figure 2 for Figure 1 Side view of the air inlet assembly (the air inlet assembly is lowered so that the air inlet portion is exposed outside the smoke collection hood);

[0037] Figure 3 Schematic diagram of imaging of the first target point and the second target point in an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of calculating the Z-axis coordinate of the first target point in an embodiment of the present invention;

[0039] Figure 5 Schematic diagram of calculation of the X-axis coordinate and the Y-axis coordinate of the first target point in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.​

[0041] like Figure 1 As shown, the cooking device in this embodiment includes a range hood 1 and a stove 2 located below the range hood 1. The range hood 1 includes a smoke hood 11, an air inlet assembly 12 constrained on the smoke hood 11 in a manner that it can be lifted up and down relative to the smoke hood 11, and a lifting module (not shown in the figure) for driving the air inlet assembly 12 to lift. A fan rack 13 is also provided above the smoke hood 11, and a fan is provided in the fan rack 13. The structure of the fan is prior art and will not be elaborated on here. The air inlet assembly 12 and the lifting module in this embodiment can refer to the contents disclosed in the Chinese utility model patent "A Lifting Range Hood" with patent number ZL202322037858.2 (authorization announcement number CN220506839U) previously applied for by the applicant. The specific state of the air inlet assembly 12 is as follows Figure 2 shown.

[0042] The cooking device in this embodiment also includes two cameras and a controller, the two cameras are a first camera 3 and a second camera 4 distributed on the front side of the smoke hood 11 with an interval of one on the left and one on the right; the controller is electrically connected to the first camera 3, the second camera 4 and the lifting module, and the controller is configured to: analyze the image of the first target point on the top of the pot 21 placed on the stove 2 taken by the first camera 3 and the second camera 4, and the image of the second target point on the bottom of the air inlet assembly 12 taken by the first camera 3 and the second camera 4, so as to calculate the distance between the top of the pot 21 placed on the stove 2 and the bottom of the air inlet assembly 12, and then control the lifting module to perform corresponding actions.

[0043] In this embodiment, the first target point is the highest point on the top edge of the pot 21; the second target point is the lowest point on the bottom edge of the air inlet assembly 12, such as Figure 2 As shown, the air inlet assembly 12 is a regular rectangular parallelepiped, and the second target point is one of the points on the bottom edge of the air inlet assembly 12; the above-mentioned second target point and the first target point are the points on the air inlet assembly that are most easily touched by the pot 21.

[0044] In this embodiment, the imaging surfaces of the first camera 3 and the second camera 4 are in the same plane, and the optical axes of the first camera 3 and the second camera 4 are perpendicular to the corresponding imaging surface and pass through the center of the corresponding imaging surface. In addition, the first camera 3 and the second camera 4 are both tilted downward at a certain angle to the horizontal direction. Figure 1 As shown, the first camera 3 and the second camera 4 are both arranged near the front bottom of the smoke collecting hood.

[0045] The present invention also relates to a method for controlling the cooking device as described above, comprising the following steps:

[0046] Step 1: Start the first camera and the second camera;

[0047] Step 2: Use the first camera and the second camera to capture an image of the top of the pot placed on the stove. Set the horizontal direction as the X axis, the depth direction as the Z axis, and the direction perpendicular to both the X axis and the Z axis as the Y axis to establish a coordinate system. The first target point on the top of the pot placed on the stove on the imaging surface of the first camera is recorded as M. 左 , the first target point of the top of the pot placed on the stove on the imaging surface of the second camera is recorded as M 右 ;

[0048] This embodiment also includes the following processing: correcting the images of the top of the pot placed on the stove taken by the first camera and the second camera, and performing position matching on the images of the top of the pot placed on the stove taken by the first camera and the second camera. The above correction is usually distortion correction, which is a prior art and will not be described in detail here; the above position matching corresponds to matching the first target point of the images of the top of the pot placed on the stove taken by the first camera and the second camera respectively, which is also a prior art and will not be described in detail here;

[0049] Step 3: Based on the image in step 2, M 左 The coordinates and M 右 The Z-axis coordinate of the first target point on the top of the pot placed on the first cooktop is calculated based on the coordinates of the first target point, and the X-axis coordinate and the Y-axis coordinate of the first target point on the top of the pot placed on the first cooktop are calculated based on the Z-axis coordinate, that is, the three-dimensional coordinates of the first target point on the top of the pot placed on the first cooktop are obtained;

[0050] Step 4: Use the first camera and the second camera to capture an image of the bottom of the air inlet assembly, and obtain the three-dimensional coordinates of the second target point on the bottom of the air inlet assembly in the same manner as steps 2 and 3;

[0051] Step 5: Calculate the distance Δd between the top of the pot placed on the first cooktop and the bottom of the air inlet assembly based on the three-dimensional coordinates of a first target point on the top of the pot placed on the first cooktop and the three-dimensional coordinates of a second target point on the bottom of the air inlet assembly. Determine based on the distance Δd whether the pot placed on the cooktop will not collide with the bottom of the air inlet assembly. If so, proceed to Step 6. If not, control the air inlet assembly to rise, and control the range hood fan to adjust to a corresponding operating gear based on the distance between the bottom of the raised air inlet assembly and the top of the pot placed on the cooktop.

[0052] In this embodiment, the distance Δd is calculated based on the three-dimensional coordinates of the first target point on the top of the pot placed on the first cooktop and the three-dimensional coordinates of the second target point on the bottom of the air inlet assembly using the existing technology;

[0053] In this embodiment, the specific control logic for controlling the range hood fan to adjust to the corresponding working gear according to the distance h between the bottom of the raised air inlet assembly and the top of the pot placed on the cooker is:

[0054] When h

[0055] When h1≤h<h2, the range hood fan is controlled to adjust to the middle gear;

[0056] When h≥h2, the range hood fan is controlled to adjust to a high position;

[0057] Wherein, h1 and h2 are both preset constants; the values ​​of h1 and h2 are determined based on experience or experiments; the low gear, medium gear and high gear mentioned above refer to the speed of the fan; the higher the gear, the faster the speed;

[0058] Step 6: Determine whether the air inlet assembly has been lowered to the lowest position. If so, control the lifting module to stop and switch or maintain the range hood fan at a low gear, and end. If not, control the lifting module to continue to move so that the air inlet assembly continues to descend, and proceed to step 2.

[0059] In this embodiment, the calculation formula for the Z-axis coordinate z of the first target point on the top of the pot placed on the first cooktop is:

[0060]

[0061] Where f is the focal length of the first camera and the second camera, L is the installation distance between the centers of the first camera and the second camera; Xm2 is M 右 X-axis coordinate of M 左 The X-axis coordinate of

[0062] The calculation formulas for the X-axis coordinate x and Y-axis coordinate y of the first target point on top of the pot placed on the first cooktop are:

[0063]

[0064] Among them, u 左 is the X-axis coordinate of the origin of the coordinate system of the first camera at the point corresponding to the imaging surface, and ym1 is M 左 The Y-axis coordinate, v 左 is the Y-axis coordinate of the point on the imaging surface corresponding to the origin of the coordinate system of the first camera.

[0065] The theoretical basis for the calculation formulas of the Z-axis coordinate z, X-axis coordinate x, and Y-axis coordinate y of the first target point is as follows:

[0066] ​Since the imaging surfaces of the first camera 3 and the second camera 4 are in the same plane, and the optical axes of the first camera 3 and the second camera 4 are perpendicular to the corresponding imaging surfaces and pass through the centers of the corresponding imaging surfaces, Figures 3-5 As shown, the origin of the coordinate system of the first camera is recorded as O1, the imaging surface of the first camera is recorded as A, and the coordinates of the point corresponding to O1 on the imaging surface of the first camera are (u 左 ,v 左 ), the origin of the coordinate system of the second camera is recorded as O2, the imaging surface of the second camera is recorded as B, and the coordinates of the point on the imaging surface of the second camera corresponding to O2 are (u 右 ,v 右 );

[0067] like Figure 3 As shown, assuming that the first target point is point m, the second target point is point n, the X-axis coordinate of point m on the imaging plane of the first camera is Xm1, the X-axis coordinate of point n on the imaging plane of the first camera is Xn1, the X-axis coordinate of point m on the imaging plane of the second camera is Xm2, and the X-axis coordinate of point n on the imaging plane of the second camera is Xn2. The following is an example of calculating the three-dimensional coordinates of point m:

[0068] like Figure 4 As shown, draw a straight line perpendicular to the X-axis from point m, record the intersection of this straight line and the imaging plane as point Q, and record the intersection of this straight line and the X-axis as point R. The following calculation formula can be obtained based on the triangle similarity principle:

[0069]

[0070] The aforementioned QX m1 is the difference between the X-axis coordinate of point Q and the X-axis coordinate of point m on the imaging surface of the first camera, O1R is the difference between the X-axis coordinate of point O1 and point R, QX m2 is the difference between the X-axis coordinates of point m on the imaging plane of the second camera and the X-axis coordinates of point Q, and O2R is the difference between the X-axis coordinates of point O2 and point R;

[0071] Adding the above two calculation formulas together, we get:

[0072] (zf)×(O1R+O2R)=z×(QX m1 +QX m2 ) Formula 1

[0073] Since (O1R+O2R)=L, and QX m1 +QX m2 =Xm2-Xm1

[0074] Substituting it into formula 1, we get: (zf)×L=z×(Xm2-Xm1)

[0075]

[0076] like Figure 5 As shown, a three-dimensional coordinate system is established with point O1 as the origin, and another three-dimensional coordinate system is established with point O2 as the origin. According to the imaging ratio, we can get:

[0077]

[0078] Similarly, the three-dimensional coordinates of point n can also be calculated using the same calculation method as above.

[0079] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A cooking device comprising a range hood (1) and a stove (2) located below the range hood (1), wherein the range hood (1) comprises a smoke collecting hood (11), an air inlet assembly (12) constrained on the smoke collecting hood (11) in a manner capable of being lifted up and down relative to the smoke collecting hood (11), and a lifting module for driving the air inlet assembly (12) to lift up and down, characterized in that Also includes: Two cameras, including a first camera (3) and a second camera (4), which are spaced apart on the front side of the smoke collecting hood (11), one on the left and one on the right; A controller is electrically connected to the first camera (3), the second camera (4) and the lifting module, and is configured to analyze images of a first target point on the top of a pot (21) placed on the stove (2) taken by the first camera (3) and the second camera (4), and images of a second target point on the bottom of the air inlet assembly (12) taken by the first camera (3) and the second camera (4), so as to calculate the distance between the top of the pot (21) placed on the stove (2) and the bottom of the air inlet assembly (12), and thereby control the lifting module to perform corresponding actions.

2. The cooking device according to claim 1, wherein: The first target point is the highest point on the top edge of the pot (21).

3. The cooking device according to claim 2, wherein: The second target point is the lowest point on the bottom edge of the air inlet assembly (12).

4. The cooking device according to claim 3, wherein: The imaging surfaces of the first camera (3) and the second camera (4) are in the same plane, and the optical axes of the first camera (3) and the second camera (4) are both perpendicular to the corresponding imaging surface and pass through the center of the corresponding imaging surface.

5. The cooking device according to claim 1, wherein: The first camera (3) and the second camera (4) are both arranged to be tilted downward at a certain angle to the horizontal direction.

6. The cooking device according to any one of claims 1 to 5, characterized in that: The first camera (3) and the second camera (4) are both arranged adjacent to the front bottom of the smoke collecting hood.

7. A method for controlling a cooking device according to claim 4, characterized in that The steps include: Step 1: Start the first camera and the second camera; Step 2: Use the first camera and the second camera to capture an image of the top of the pot placed on the stove. Set the horizontal direction as the X axis, the depth direction as the Z axis, and the direction perpendicular to both the X axis and the Z axis as the Y axis to establish a coordinate system. The first target point on the top of the pot placed on the stove on the imaging surface of the first camera is recorded as M. 左 , the first target point of the top of the pot placed on the stove on the imaging surface of the second camera is recorded as M 右 ; Step 3: Based on the image in step 2, M 左 The coordinates and M 右 The Z-axis coordinate of the first target point on the top of the pot placed on the first cooktop is calculated based on the coordinates of the first target point, and the X-axis coordinate and the Y-axis coordinate of the first target point on the top of the pot placed on the first cooktop are calculated based on the Z-axis coordinate, that is, the three-dimensional coordinates of the first target point on the top of the pot placed on the first cooktop are obtained; Step 4: Use the first camera and the second camera to capture an image of the bottom of the air inlet assembly, and obtain the three-dimensional coordinates of the second target point on the bottom of the air inlet assembly in the same manner as steps 2 and 3; Step 5: Calculate the distance Δd between the top of the pot placed on the first cooktop and the bottom of the air inlet assembly based on the three-dimensional coordinates of a first target point on the top of the pot placed on the first cooktop and the three-dimensional coordinates of a second target point on the bottom of the air inlet assembly. Determine based on the distance Δd whether the pot placed on the cooktop will not collide with the bottom of the air inlet assembly. If so, proceed to Step 6. If not, control the air inlet assembly to rise, and control the range hood fan to adjust to a corresponding operating gear based on the distance between the bottom of the raised air inlet assembly and the top of the pot placed on the cooktop. Step 6: Determine whether the air inlet assembly has been lowered to the lowest position. If so, control the lifting module to stop and switch or maintain the range hood fan at a low gear, and end. If not, control the lifting module to continue to move so that the air inlet assembly continues to descend, and proceed to step 2.

8. The control method according to claim 7, wherein: The calculation formula for the Z-axis coordinate z of the first target point on the top of the pot placed on the first cooktop in step 3 is: Where f is the focal length of the first camera and the second camera, L is the installation distance between the centers of the first camera and the second camera; Xm2 is M 右 X-axis coordinate of M 左 The X-axis coordinate of .

9. The control method according to claim 8, characterized in that: The calculation formulas for the X-axis coordinate x and the Y-axis coordinate y of the first target point on the top of the pot placed on the first cooktop in step 3 are: Among them, u 左 is the X-axis coordinate of the origin of the coordinate system of the first camera at the point corresponding to the imaging surface, and ym1 is M 左 The Y-axis coordinate, v 左 is the Y-axis coordinate of the point on the imaging surface corresponding to the origin of the coordinate system of the first camera.

10. The control method according to any one of claims 7 to 9, characterized in that: The step 2 also includes the following processing: correcting the images of the top of the pot placed on the stove taken by the first camera and the second camera, and performing position matching on the images of the top of the pot placed on the stove taken by the first camera and the second camera.

11. The control method according to claim 10, characterized in that: In step 5, the specific control logic for controlling the range hood fan to adjust to the corresponding working gear according to the distance h between the bottom of the raised air inlet assembly and the top of the pot placed on the cooker is: When h<h1, the range hood fan is controlled to adjust to a low gear; When h1≤h<h2, the range hood fan is controlled to adjust to the middle gear; When h≥h2, the range hood fan is controlled to adjust to a high position; Wherein, h1 and h2 are both preset constants.

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