Motor control method and device and automatic cooking equipment

Abstract

The invention provides a control method and device of a motor and automatic cooking equipment, and relates to the technical field of intelligent control, and the method comprises the steps: responding to the starting of the motor, and controlling the power end of the motor to rotate under preset operation parameters; if it is monitored that the operation parameters exceed the preset parameter threshold value, a self-recovery mode of the motor is started; in the self-recovery mode, the motor is controlled to execute a self-recovery rotation strategy until it is monitored that the operation parameters meet the preset parameter threshold value, the self-recovery mode is quitted, and the motor is controlled to rotate under the preset operation parameters; according to the motor control method and device and the automatic cooking equipment provided by the invention, the self-recovery rotation strategy comprises the step of controlling the power end of the motor to alternately rotate according to the first direction and the second direction which are configured in advance so as to try to recover the rotation of the motor to normal work, so that the motor is prevented from being stuck, the self-recovery efficiency of the stuck motor is effectively improved, and the user experience is improved. And the use experience of the user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and in particular to a motor control method and device and automatic cooking equipment. Background Art

[0002] With the development of science and technology, more and more intelligent devices are gradually entering people's lives, such as intelligent automatic cooking equipment, intelligent home appliances, etc. Taking automatic cooking equipment as an example, it can effectively improve the convenience and efficiency of cooking.

[0003] However, these intelligent devices may experience various faults during operation, among which motor jamming is a common fault. This fault can cause the device to malfunction or even damage the device, such as burning out the motor, etc., reducing the user experience.

[0004] In related technologies, motor jamming is often avoided through hardware design and improvement, such as using more wear-resistant materials, more reasonable structural design, and higher torque motors. However, this method is costly and does not take into account the protection of the motor when it is stuck, making it difficult to improve the motor's efficiency and service life.

[0005] Therefore, how to promptly detect and resolve motor jamming faults to improve the stability and reliability of intelligent equipment is an urgent problem that needs to be solved. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a motor control method, device and automatic cooking equipment, which can promptly detect and solve the motor stuck fault and self-recover the motor, thereby improving the stability and reliability of the intelligent equipment.

[0007] In a first aspect, an embodiment of the present invention provides a method for controlling a motor, which is applied to an automatic cooking device, wherein the automatic cooking device is provided with a motor and a stirring spatula connected to a power output end of the motor, and the stirring spatula is used for automatically stir-frying under the drive of the motor; the method comprises: in response to the start-up of the motor, controlling the power end of the motor to rotate under preset operating parameters to drive the stirring spatula to move; monitoring the operating parameters of the motor, and if it is detected that the operating parameters exceed a preset parameter threshold, starting the self-recovery mode of the motor; in the self-recovery mode, controlling the motor to execute a self-recovery rotation strategy until it is detected that the operating parameters meet the preset parameter threshold, exiting the self-recovery mode, and controlling the motor to rotate under the preset operating parameters; wherein the self-recovery rotation strategy includes controlling the power end of the motor to rotate alternately in a pre-configured first direction and a second direction, wherein the first direction and the second direction are opposite directions.

[0008] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation scheme of the first aspect, wherein the above-mentioned operating parameters include the speed of the motor and the motor current; the step of monitoring the operating parameters of the motor includes: if it is monitored that the speed of the motor is less than a preset speed threshold, or, it is monitored that the current of the motor is greater than a preset current threshold, then it is determined that the monitored operating parameter exceeds the preset parameter threshold.

[0009] In combination with the first possible implementation of the first aspect, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the above-mentioned step of controlling the motor to execute the self-recovery rotation strategy until the operating parameters are monitored to meet the preset parameter threshold, and exiting the self-recovery mode includes: controlling the motor to execute the self-recovery rotation strategy, and recording the number of executions of the self-recovery rotation strategy; when the number of executions does not reach the preset number threshold, if it is monitored that the operating parameters meet the preset parameter threshold, exiting the self-recovery mode.

[0010] In combination with the second possible implementation of the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the above method also includes: if the number of executions reaches the number threshold and the operating parameter exceeds the preset parameter threshold, an alarm prompt message is generated.

[0011] In combination with the second possible implementation of the first aspect, an embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the above-mentioned first direction is the rotation direction of the power end when the motor is started, and the second direction is the direction opposite to the first direction; the step of controlling the motor to execute the self-recovery rotation strategy includes: controlling the power end of the motor to rotate in the second direction at a preset first recovery speed until the duration reaches the preset first recovery duration; and controlling the power end of the motor to rotate in the first direction at a preset second recovery speed until the duration reaches the preset second recovery duration; wherein, the first recovery speed is less than the second recovery speed.

[0012] In combination with the second possible implementation of the first aspect, an embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein the step of exiting the self-recovery mode if it is monitored that the operating parameter meets the preset parameter threshold includes: if it is monitored that the speed of the motor is greater than the preset speed threshold, and the current of the motor is less than the preset current threshold, then it is determined that the operating parameter is monitored to meet the preset parameter threshold.

[0013] In combination with the fourth possible implementation of the first aspect, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the above-mentioned step of controlling the power end of the motor to rotate in the second direction at a preset first recovery speed until the duration reaches a preset first recovery duration includes: after controlling the power end of the motor to rotate in the second direction at a preset first recovery speed, monitoring the current of the motor; if it is monitored that the current of the motor is greater than a preset current threshold, controlling the power end of the motor to perform deceleration rotation according to a preset deceleration threshold until the current is less than or equal to the preset current threshold; monitoring the duration of rotation in the second direction until the duration reaches the preset first recovery duration.

[0014] In combination with the sixth possible implementation of the first aspect, an embodiment of the present invention provides a seventh possible implementation of the first aspect, wherein the above method also includes: after controlling the motor to perform deceleration rotation according to a preset deceleration threshold, if it is monitored that the speed of the motor drops to a preset minimum speed and the current of the motor is greater than a preset current threshold, an alarm prompt message is generated.

[0015] In a second aspect, an embodiment of the present invention further provides a motor control device, which is applied to automatic cooking equipment, wherein the automatic cooking equipment is provided with a motor and a stirring spatula connected to the power output end of the motor, and the stirring spatula is used to automatically stir-fry under the drive of the motor; the device includes: a response module, which is used to control the power end of the motor to rotate under preset operating parameters in response to the start of the motor to drive the stirring spatula to move; a monitoring module, which is used to monitor the operating parameters of the motor, and if it is detected that the operating parameters exceed the preset parameter threshold, the self-recovery mode of the motor is started; a recovery module, which is used to control the motor to execute a self-recovery rotation strategy in the self-recovery mode until it is detected that the operating parameters meet the preset parameter threshold, exit the self-recovery mode, and control the motor to rotate under the preset operating parameters; wherein the self-recovery rotation strategy includes controlling the motor to rotate alternately in a pre-configured first direction and a second direction.

[0016] In a third aspect, an embodiment of the present invention further provides an automatic cooking device, wherein the controller of the automatic cooking device is configured with the motor control device described in the second aspect; wherein the automatic cooking device also includes a monitoring sensor; the monitoring sensor communicates with the controller of the automatic cooking device and is used to monitor the operating parameters of the automatic cooking device.

[0017] The embodiments of the present invention bring the following beneficial effects: The motor control method, device and automatic cooking equipment provided by the embodiments of the present invention can control the power end of the motor to rotate under preset operating parameters in response to the start of the motor to drive the stirring spatula to move; monitor the operating parameters of the motor, and if the operating parameters are monitored to exceed the preset parameter threshold, start the self-recovery mode of the motor; in the self-recovery mode, control the motor to execute the self-recovery rotation strategy until the operating parameters are monitored to meet the preset parameter threshold, exit the self-recovery mode, and control the motor to rotate under the preset operating parameters; wherein the above-mentioned self-recovery rotation strategy includes controlling the power end of the motor to rotate alternately in a pre-configured first direction and a second direction, in an attempt to restore the rotation of the power end of the motor to normal operation to avoid the motor from getting stuck, effectively improving the efficiency of the motor's self-recovery when it gets stuck, and thereby improving the stability and reliability of the entire automatic cooking equipment, thereby improving the user experience.

[0018] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A flow chart of a motor control method provided by an embodiment of the present invention; Figure 2 A flowchart of another motor control method provided by an embodiment of the present invention; Figure 3 A schematic structural diagram of a motor control device provided by an embodiment of the present invention; Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0023] At present, with the continuous development of intelligent equipment, various faults may occur during the operation of these devices. For example, the motor with stirring function may get stuck, etc., which often causes the equipment to fail to operate normally and may even damage the equipment, such as the stirring motor burning out, etc.

[0024] In the related art, the common solution to prevent agitator motor jams is to design and improve the hardware, such as using more wear-resistant materials, more reasonable structural designs, and higher-torque motors. However, such improvements to motor hardware design are often costly and have limited effectiveness. When addressing motor jams, motor protection is often not considered, potentially leading to damage during the process.

[0025] In addition, in other technologies, after detecting that the motor is stuck, the device will immediately stop working for shutdown protection, and an error will be reported to remind the user. The device can only continue working after the user manually clears the fault, which reduces the efficiency of the device operation, which will obviously affect the user experience.

[0026] Based on this, the embodiments of the present invention provide a motor control method, device, and automatic cooking device that can promptly detect and resolve motor stuck faults and perform self-recovery on the motor, thereby improving stability and reliability.

[0027] To facilitate understanding of this embodiment, a motor control method disclosed in an embodiment of the present invention is first introduced in detail.

[0028] In one possible implementation, an embodiment of the present invention provides a method for controlling a motor. Specifically, the method is applied to an automatic cooking device, which is provided with a motor and a stirring shovel connected to the power output end of the motor. The stirring shovel is used to automatically stir-fry under the drive of the motor. For example, the stirring motor in an automatic stir-fry pot drives the stirring shovel to stir-fry continuously, etc.

[0029] For ease of understanding, Figure 1 A flow chart of a method for controlling a motor is shown, the method comprising the following steps: Step S102, in response to the motor starting, controlling the power end of the motor to rotate under preset operating parameters to drive the stirring shovel to move; Among them, the power end of the motor usually refers to the output end of the power shaft. The stirring shovel is fixed on the power shaft. When the motor is running, the stirring shovel can be driven to move by the rotation of the power shaft.

[0030] Step S104, monitoring the operating parameters of the motor, and if the monitored operating parameters exceed a preset parameter threshold, starting the self-recovery mode of the motor; Step S106: In the self-recovery mode, the motor is controlled to execute the self-recovery rotation strategy until the monitored operating parameters meet the preset parameter thresholds, the self-recovery mode is exited, and the motor is controlled to rotate under the preset operating parameters; The self-recovery rotation strategy includes controlling the power end of the motor to rotate alternately in a pre-configured first direction and a second direction, wherein the first direction and the second direction are opposite directions.

[0031] In actual use, the above-mentioned motor in the embodiment of the present invention usually has a reversing function during actual operation, that is, the power shaft of the motor can be called to rotate, for example, the stirring motor of an automatic frying pan, the steering motor of a sweeping robot, etc., and after the automatic cooking device is powered on, its controller can control the motor to start according to a preset operating program, or the user can manually control the start control to start it, and then the controller responds to the start of the motor, so as to control the power end of the motor to rotate under the preset operating parameters.

[0032] Furthermore, the operating parameters in the embodiments of the present invention typically include motor speed and motor current. These operating parameters typically have corresponding operating ranges, such as a normal range for speed and a normal range for motor current. For example, for a stirring motor in an automatic stir-fry pan, the normal range for speed can be set between 30-50 rpm, and the normal range for motor current can be set between 0.5-1 A.

[0033] When the motor operates normally, the above operating parameters are maintained within the normal range. Once the motor operates abnormally, for example, the stirring shovel driven by the stirring motor of the automatic stir-fry pan is stuck, the operating parameters will exceed the preset parameter threshold, and the above step S106 will be executed.

[0034] Furthermore, in embodiments of the present invention, to monitor the motor's operating parameters, the automatic cooking device typically includes monitoring sensors. For example, a speed sensor and a current sensor are installed at locations corresponding to the motor. These monitoring sensors communicate with the device's controller to monitor the device's operating parameters. Furthermore, this sensor-based monitoring approach eliminates the need for additional hardware and can be implemented through software algorithms, thereby improving the stability and reliability of the automatic cooking device.

[0035] Taking the stirring motor of an automatic stir-fry pan as an example, by installing a speed sensor and a current sensor on the stirring motor of the automatic stir-fry pan, the speed and motor current of the stirring motor can be monitored in real time, and then the above operating parameters can be monitored to see whether they exceed the preset parameter thresholds.

[0036] Furthermore, since the above-mentioned motor in the embodiment of the present invention usually has a reversing function, during actual operation, the structure driven by the motor often gets stuck, which in turn causes the motor to get stuck. For example, the stirring shovel driven by the stirring motor of the above-mentioned automatic frying pan gets stuck. Therefore, the above-mentioned self-recovery rotation strategy in the embodiment of the present invention can control the power end of the motor to rotate alternately in the first direction and the second direction in the self-recovery mode, for example, control the motor to alternately realize forward rotation, reverse rotation, etc., thereby releasing the stuck motor and realizing the motor self-recovery process.

[0037] Therefore, the motor control method provided in the embodiment of the present invention can control the power end of the motor to rotate under preset operating parameters in response to the start of the motor; monitor the operating parameters of the motor, and if the operating parameters are monitored to exceed the preset parameter threshold, start the self-recovery mode of the motor; in the self-recovery mode, control the motor to execute the self-recovery rotation strategy until the operating parameters are monitored to meet the preset parameter threshold, exit the self-recovery mode, and control the motor to rotate under the preset operating parameters; wherein the above-mentioned self-recovery rotation strategy includes controlling the motor to rotate alternately in a pre-configured first direction and a second direction, in an attempt to restore the rotation of the power end of the motor to normal operation to avoid the motor from getting stuck, effectively improving the efficiency of the motor's self-recovery when it gets stuck, and thereby improving the stability and reliability of the entire automatic cooking equipment, thereby enhancing the user experience.

[0038] In actual use, considering that when a motor is stuck, the speed will decrease and the current will increase, the above-mentioned operating parameters in the embodiment of the present invention include the motor speed and the motor current; and, in the above-mentioned step S104, when monitoring the operating parameters of the motor, it is actually a process of simultaneously monitoring the motor speed and the motor current. Specifically, if the motor speed is detected to be less than a preset speed threshold, or the motor current is detected to be greater than a preset current threshold, it is determined that the monitored operating parameters exceed the preset parameter threshold. That is, when the motor speed and the motor current either exceed the preset parameter threshold, it can be determined that the current motor has a fault, such as a motor stuck fault, and then the above-mentioned self-recovery rotation strategy is executed to achieve self-recovery of the motor stuck.

[0039] For ease of understanding, in the above Figure 1 On the basis of Figure 2 A flow chart of another motor control method is also shown, which further explains the process of monitoring the operating parameters and executing the self-recovery rotation strategy. Figure 2 As shown, the following steps are included: Step S202, in response to the motor starting, controlling the power end of the motor to rotate under preset operating parameters; Step S204, monitoring whether the motor current is greater than a preset current threshold; Step S206, monitoring whether the rotation speed is less than a preset rotation speed threshold; Specifically, in the embodiment of the present invention, taking the stirring motor of the automatic stir-fry pan as an example, when the automatic cooking device (automatic stir-fry pan) is started, the entire system is initialized, the automatic stir-fry pan starts working, and the power end of the stirring motor rotates at the same time.

[0040] Moreover, the above-mentioned step S204 and step S206 are processes executed simultaneously. Specifically, the motor speed and motor current can be obtained at preset time intervals for monitoring. For each obtained motor current speed, the above-mentioned step S204 and step S206 are respectively judged to determine whether the operating parameters exceed the preset parameter threshold.

[0041] Specifically, if it is determined in step S204 that the motor current is less than or equal to the current threshold, it means that the motor is operating normally, and the process returns to step S204 to continue monitoring. Similarly, if it is determined in step S206 that the speed is greater than or equal to the preset speed threshold, it also means that the motor is operating normally, and the process also returns to step S206 to continue monitoring.

[0042] If any one of step S204 and step S206 monitors abnormality, that is, if the motor speed is monitored to be less than the preset speed threshold, or if the motor current is monitored to be greater than the preset current threshold, it is determined that the monitored operating parameter exceeds the preset parameter threshold, and then the following steps are continued.

[0043] Step S208, starting the self-recovery mode of the motor; Specifically, after starting the self-recovery mode of the motor, the power end of the motor can be controlled to execute the self-recovery rotation strategy. Specifically, the steps of executing the self-recovery rotation strategy include the following steps S210 and S212.

[0044] Step S210, controlling the power end of the motor to rotate in the second direction at a preset first recovery speed until the duration reaches a preset first recovery duration; Step S212, controlling the power end of the motor to rotate in the first direction at a preset second recovery speed until the duration reaches a preset second recovery duration; In actual use, in an embodiment of the present invention, the above-mentioned first direction is the rotation direction of the power end when the motor is started, and the second direction is the direction opposite to the first direction; for example, if the power end rotates forward when the motor is started, the first direction is forward and the second direction is reverse, and if the power end rotates reversely when the motor is started, the first direction is reverse and the second direction is forward, that is, in the self-recovery mode of the motor, the power end of the motor can be controlled to rotate alternately in forward and reverse directions.

[0045] Furthermore, in an embodiment of the present invention, the first recovery speed is lower than the second recovery speed. Specifically, taking the stirring motor of an automatic stir-fry pan as an example, assuming that its normal speed range is 30-50 rpm and the normal motor current range is 0.5-1A, the first recovery speed is typically set to be lower than the normal speed range, for example, 20 rpm, to allow the motor to rotate slowly to test whether self-recovery can be achieved and to avoid damage to the motor caused by high-speed rotation.

[0046] Furthermore, the above-mentioned first recovery time and second recovery time can be set according to experience or actual usage. For example, the first recovery time is 5 seconds and the second recovery time is 10 seconds. It can be set according to actual usage, and the embodiment of the present invention does not limit this.

[0047] Furthermore, after executing the above self-recovery rotation strategy, it is necessary to further monitor whether the operating parameters meet the preset parameter thresholds. If so, exit the self-recovery mode. Specifically, the following steps are included: Step S214, monitoring whether the motor current is greater than a preset current threshold; If yes, return to step S208, if no, continue to step S216; Step S216, monitoring whether the rotation speed is less than a preset rotation speed threshold; If yes, return to step S208, if no, continue to step S218; Step S218, exiting the self-recovery mode; Step S220, controlling the power end of the motor to rotate under preset operating parameters; That is, in an embodiment of the present invention, if the motor speed is monitored to be greater than the preset speed threshold, and the motor current is less than the preset current threshold, it is determined that the monitored operating parameters meet the preset parameter threshold, and then the above-mentioned self-recovery mode is exited, and the motor is controlled to resume rotation under the preset operating parameters.

[0048] In actual use, for the above-mentioned situation where the motor speed is monitored to be greater than the preset speed threshold and the motor current is less than the preset current threshold, it is also necessary to determine that the motor speed is not greater than the maximum speed threshold and that the motor current is not less than the preset minimum current threshold, so as to control the power end of the motor to rotate under the preset operating parameters. For example, for the stirring motor of an automatic stir fry pan, the normal range of its speed can be controlled to be 30-50rpm, and the normal range of the motor current can be controlled to be 0.5-1A, so as to ensure the normal operation of the motor and thereby extend the service life of the motor.

[0049] In addition, when the above-mentioned control motor executes the self-recovery rotation strategy, the number of executions of the self-recovery rotation strategy can also be recorded; when the number of executions does not reach the preset number threshold, if the monitored operating parameters meet the preset parameter threshold, the self-recovery mode is exited.

[0050] If the number of executions of the self-recovery rotation strategy reaches a threshold number, and the operating parameters continue to exceed the preset parameter threshold, an alarm prompt message is generated.

[0051] For example, taking the stirring motor of an automatic stir-fry pan as an example, if the stirring motor's power end rotates alternately in a pre-configured first and second directions, and the speed and motor current return to normal, that is, they meet the preset parameter threshold, then the stirring shovel has returned to normal and is no longer stuck, and cooking can continue. If the stirring shovel is detected to be stuck again, the automatic stir-fry pan will control the stirring motor's power end to rotate alternately in the pre-configured first and second directions, that is, reverse rotation and forward rotation, in an attempt to restore the stirring shovel to normal operation. If the operating parameters are continuously monitored to exceed the parameter threshold after a preset number of consecutive times, such as three consecutive times, that is, the stirring shovel is detected to be stuck, an alarm prompt will be issued to prompt the user to check whether the stirring shovel needs to be cleaned or replaced.

[0052] In this way, the problem of the stirring shovel getting stuck can be effectively solved, the stability and reliability of the open flame automatic stir-fry pan can be improved, and the stirring motor can also be protected from damage.

[0053] Furthermore, in an embodiment of the present invention, in the above-mentioned step S210, after the power end of the motor is controlled to rotate in the second direction at a preset first recovery speed, the current of the motor can be further monitored; if it is monitored that the current of the motor is greater than the preset current threshold, the power end of the motor is controlled to perform deceleration rotation according to the preset deceleration threshold until the current is less than or equal to the preset current threshold; then the duration of rotation in the second direction is monitored until the duration reaches the preset first recovery duration.

[0054] After the motor is controlled to execute deceleration rotation according to the preset deceleration threshold, if it is monitored that the motor speed drops to the preset minimum speed and the motor current is still greater than the preset current threshold, an alarm prompt message is generated.

[0055] Specifically, take the stirring motor of an automatic stir-fry pan as an example. Assuming its normal speed range is 30-50 rpm and its normal motor current range is 0.5-1A, and further assuming that the motor starts in forward gear, if the stirring motor is detected to be stuck, the first attempt is to control the power end to rotate in the reverse direction, with the reverse rotation speed set to 30 rpm and the duration for 5 seconds. The motor current is then checked again to see if it exceeds 1A. If it does, the speed is reduced, for example, to 25 rpm. The motor current is then checked again to see if it exceeds 1A until the motor current returns to normal. The power end of the stirring motor is then controlled to rotate in the forward direction, with the forward rotation speed set to 40 rpm and the duration for 10 seconds. If the speed and motor current return to normal after forward rotation, it indicates that the stirring shovel has returned to normal and cooking can continue. If the stirring shovel is detected to be stuck three times in a row and cannot recover on its own, an alarm message will be issued, prompting the user to check whether the stirring shovel needs to be cleaned or replaced.

[0056] Therefore, the motor control method described in the embodiments of the present invention can implement intelligent diagnosis and control, achieve self-recovery in the event of a motor jam, improve the stability and reliability of the automatic cooking device, reduce the failure rate of the automatic cooking device, and thus enhance the user experience. Furthermore, the motor control method provided in the embodiments of the present invention can effectively reduce the maintenance costs of the automatic cooking device and extend the service life of the automatic cooking device, thus possessing high economic value. Therefore, with the development of science and technology and the increasing demand for intelligent devices, the motor control method described in the embodiments of the present invention has broad application prospects in the future market.

[0057] Furthermore, based on the above embodiment, an embodiment of the present invention further provides a motor control device, which is applied to an automatic cooking device. The automatic cooking device is provided with a motor and a stirring shovel connected to the power output end of the motor, and the stirring shovel is used to automatically stir-fry under the drive of the motor; Figure 3 The structure diagram of a motor control device shown in FIG. 1 includes: a response module 30 for controlling the power end of the motor to rotate under preset operating parameters in response to the motor starting, so as to drive the stirring shovel to move; A monitoring module 32 is configured to monitor operating parameters of the motor and initiate a self-recovery mode of the motor if the operating parameters are detected to exceed a preset parameter threshold; The recovery module 34 is used to control the motor to execute a self-recovery rotation strategy in the self-recovery mode until the operating parameters are monitored to meet the preset parameter thresholds, exit the self-recovery mode, and control the motor to rotate under the preset operating parameters; wherein the self-recovery rotation strategy includes controlling the power end of the motor to rotate alternately in a pre-configured first direction and a second direction, wherein the first direction and the second direction are opposite directions.

[0058] Furthermore, an embodiment of the present invention also provides an automatic cooking device, the controller of the automatic cooking device is configured with the control device of the above-mentioned motor; wherein, the automatic cooking device is provided with a motor and a stirring shovel connected to the power output end of the motor, and the stirring shovel is used to automatically stir-fry under the drive of the motor; the automatic cooking device also includes a monitoring sensor; the monitoring sensor communicates with the controller of the automatic cooking device and is used to monitor the operating parameters of the automatic cooking device.

[0059] The motor control device provided in the embodiment of the present invention has the same technical features as the motor control method provided in the above embodiment, and therefore can also solve the same technical problems and achieve the same technical effects.

[0060] Furthermore, an embodiment of the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0061] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are executed.

[0062] Furthermore, an embodiment of the present invention also provides a structural diagram of an electronic device, such as Figure 4 As shown, it is a structural diagram of the electronic device, wherein the electronic device includes a processor 41 and a memory 40, the memory 40 stores computer executable instructions that can be executed by the processor 41, and the processor 41 executes the computer executable instructions to implement the above method.

[0063] exist Figure 4 In the illustrated embodiment, the electronic device further includes a bus 42 and a communication interface 43 , wherein the processor 41 , the communication interface 43 and the memory 40 are connected via the bus 42 .

[0064] Among them, the memory 40 may include high-speed random access memory (RAM), and may also include non-volatile memory (non-volatile memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 43 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 42 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 42 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0065] Processor 41 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be performed by hardware integrated logic circuits or software instructions in processor 41. The above processor 41 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor 41 reads the information in the memory and completes the above method in combination with its hardware.

[0066] The motor control method, device and computer program product of the automatic cooking equipment provided in the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments and will not be repeated here.

[0067] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0068] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0069] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0070] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0071] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for controlling a motor, characterized in that: Applicable to automatic cooking equipment, the automatic cooking equipment is provided with a motor and a stirring shovel connected to the power output end of the motor, the stirring shovel is used to automatically stir-fry under the drive of the motor; the method includes: In response to the motor being started, controlling the power end of the motor to rotate under preset operating parameters to drive the stirring shovel to move; monitoring an operating parameter of the motor, and if it is detected that the operating parameter exceeds a preset parameter threshold, initiating a self-recovery mode of the motor; In the self-recovery mode, controlling the motor to execute a self-recovery rotation strategy until the operating parameter is detected to meet the preset parameter threshold, exiting the self-recovery mode, and controlling the motor to rotate under the preset operating parameter; The self-recovery rotation strategy includes controlling the power end of the motor to rotate alternately in a pre-configured first direction and a second direction, wherein the first direction and the second direction are opposite directions.

2. The method according to claim 1, characterized in that The operating parameters include the speed of the motor and the motor current; The step of monitoring the operating parameters of the motor comprises: If it is monitored that the rotation speed of the motor is less than a preset rotation speed threshold, or if it is monitored that the current of the motor is greater than a preset current threshold, it is determined that the operating parameter is monitored to exceed a preset parameter threshold.

3. The method according to claim 2, characterized in that The step of controlling the motor to execute the self-recovery rotation strategy until the operating parameter is monitored to meet the preset parameter threshold and exiting the self-recovery mode includes: controlling the motor to execute a self-recovery rotation strategy, and recording the number of executions of the self-recovery rotation strategy; When the number of executions does not reach the preset number threshold, if it is monitored that the operating parameter meets the preset parameter threshold, the self-recovery mode is exited.

4. The method according to claim 3, characterized in that The method further comprises: If the execution times reach the times threshold, and the operation parameters exceed the preset parameter threshold, an alarm prompt message is generated.

5. The method according to claim 3, characterized in that The first direction is the rotation direction of the power end when the motor is started, and the second direction is the opposite direction to the first direction; The step of controlling the motor to execute the self-recovery rotation strategy includes: Controlling the power end of the motor to rotate in the second direction at a preset first recovery speed until the duration reaches a preset first recovery duration; and controlling the power end of the motor to rotate in the first direction at a preset second recovery speed until the duration reaches a preset second recovery duration; The first recovery speed is smaller than the second recovery speed.

6. The method according to claim 3, characterized in that If it is monitored that the operating parameter meets the preset parameter threshold, the step of exiting the self-recovery mode includes: If it is monitored that the rotation speed of the motor is greater than the preset rotation speed threshold, and the current of the motor is less than the preset current threshold, it is determined that the monitored operating parameter meets the preset parameter threshold.

7. The method according to claim 5, characterized in that The step of controlling the power end of the motor to rotate in the second direction at a preset first recovery speed until the duration reaches a preset first recovery duration includes: After controlling the power end of the motor to rotate in the second direction at a preset first recovery speed, monitoring the current of the motor; If it is detected that the current of the motor is greater than a preset current threshold, the power end of the motor is controlled to rotate at a reduced speed according to a preset deceleration threshold until the current is less than or equal to the preset current threshold; The duration of the rotation in the second direction is monitored until the duration reaches a preset first recovery duration.

8. The method according to claim 7, characterized in that The method further comprises: After the motor is controlled to perform deceleration rotation according to a preset deceleration threshold, if it is monitored that the speed of the motor drops to a preset minimum speed and the current of the motor is greater than a preset current threshold, an alarm prompt message is generated.

9. A motor control device, characterized in that: Applicable to automatic cooking equipment, the automatic cooking equipment is provided with a motor and a stirring shovel connected to the power output end of the motor, the stirring shovel is used to automatically stir-fry under the drive of the motor; the device includes: a response module, configured to control the power end of the motor to rotate under preset operating parameters in response to the motor starting, so as to drive the stirring shovel to move; A monitoring module, configured to monitor operating parameters of the motor and activate a self-recovery mode of the motor if the operating parameters are detected to exceed a preset parameter threshold; A recovery module is used to control the motor to execute a self-recovery rotation strategy in the self-recovery mode until the operating parameters are monitored to meet the preset parameter thresholds, exit the self-recovery mode, and control the motor to rotate under the preset operating parameters; wherein the self-recovery rotation strategy includes controlling the power end of the motor to rotate alternately in a pre-configured first direction and a second direction, wherein the first direction and the second direction are opposite directions.

10. An automatic cooking device, characterized in that: The controller of the automatic cooking device is equipped with the motor control device according to claim 9; The automatic cooking device is provided with a motor and a stirring shovel connected to the power output end of the motor, and the stirring shovel is used for automatically stirring and frying under the drive of the motor; Wherein, the automatic cooking device further comprises a monitoring sensor; The monitoring sensor communicates with the controller of the automatic cooking device and is used to monitor the operating parameters of the automatic cooking device.

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