Detection device and method for cooking machine, cooking machine and control method

Abstract

The invention provides a detection device and method for an automatic cooker, the automatic cooker and a control method, the automatic cooker comprises a rack and a pot body, the pot body is installed on the rack, and the detection device comprises a position sensor, a first contact pin, a second contact pin and a control module, and the position sensor is provided with a third contact pin and a first contact pin; the copper-clad plate is provided with a third copper circuit and a first copper circuit, a third switch composed of the third copper circuit and the third contact pin and a first switch composed of the first copper circuit and the first contact pin are connected to the main control loop in series, and the on-off state of the main control loop is controlled through the on-state of the third switch and the on-state of the first switch. Determining a first posture position of the pot body according to the on-off state; when the third contact pin is in contact with the third copper circuit, the third switch is switched on, and otherwise, the third switch is switched off; when the third switch and the first switch are connected, the on-off state is a conducting state; and when the third switch and / or the first switch are / is cut off, the on-off state is an off state. The technical problems that in the prior art, the Hall value of the initial position needs to be calibrated manually, and time and labor are wasted are solved.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and more specifically, to a detection device for a cooking machine, a detection method for a cooking machine, a cooking machine, and a control method for a cooking machine. Background Technology

[0002] An automatic cooking machine is a type of intelligent cooking device. When cooking with an automatic cooking machine, the cooking utensils (e.g., the pot) and stirring components need to be adjusted to the appropriate positions according to different cooking operations. Most existing methods for the pot to find its initial position rely on counting using a motor Hall sensor. The Hall value for the initial position is calibrated at the factory, and the machine runs to the designated position upon power-on. This method requires manual calibration, which is time-consuming and labor-intensive, and is not universally applicable when changing to different pots. Summary of the Invention

[0003] This invention solves the technical problem in the prior art that the Hall value at the initial position needs to be manually calibrated, which is time-consuming and labor-intensive.

[0004] To address the aforementioned problems, this invention provides a detection device for a cooking machine. The cooking machine includes a frame and a pot body, with the pot body mounted on the frame. The detection device includes: a position sensor with a third contact pin and a first contact pin; and a copper-clad laminate with a third copper circuit and a first copper circuit. The third copper circuit and the third contact pin constitute a third switch, and the first copper circuit and the first contact pin constitute a first switch. The third switch and the first switch are connected in series in a main control circuit. The on / off state of the main control circuit is controlled by the on / off state of the third switch and the first switch, and a first posture position of the pot body is determined based on the on / off state. Specifically, when the third contact pin is in contact with the third copper circuit, the third switch is on; otherwise, the third switch is off. When the first contact pin is in contact with the first copper circuit, the first switch is on; otherwise, the first switch is off. When the third switch and the first switch are on, the on / off state is a conducting state; when the third switch and / or the first switch are off, the on / off state is a disconnected state.

[0005] Compared with existing technologies, the technical effects achieved by this solution are as follows: Most existing methods for finding the initial position of a pot rely on counting using a motor Hall sensor. The Hall value for the initial position is calibrated at the factory, and the pot runs to the designated position upon power-on. This method requires manual calibration, which is time-consuming and labor-intensive, and is not universally applicable when changing pots. This application provides a detection device for a cooking machine that can automatically detect the first position of the pot without manual inspection, saving time and effort and improving detection accuracy. The detection device includes a position sensor and a copper-clad board. The position sensor has a third contact pin and a first contact pin. The copper-clad board has a third copper circuit and a first copper circuit. The third copper circuit and the third contact pin constitute a third switch, and the first copper circuit and the first contact pin constitute a first switch. In this application, the first position of the pot is determined by the on / off state of the third and first switches, eliminating the need for manual inspection, saving time and effort, and improving detection accuracy. The on / off state of the third switch is determined by whether the third contact pin and the third copper circuit are in contact, and the on / off state of the first switch is determined by whether the first contact pin and the first copper circuit are in contact. The third switch and the first switch are connected in series in the main control circuit, which is located on the main control board. The on / off state of the main control circuit can be controlled by the on / off state of the third switch and the first switch: the main control circuit is in a conducting state only when both the third switch and the first switch are on; the main control circuit is in a disconnected state when only one of the third switch and the first switch is on. The first posture position of the pot is determined based on the on / off state: when the on / off state is conducting, the main control circuit can output a signal (at this time, the signal is the first signal) to the main control board (the main control board can interact with the output signal of the main control circuit to identify the first posture position of the pot). The main control board determines that the pot is currently in the first position based on the received first signal, and the first posture position is the first position; when the on / off state is disconnected, the main control circuit cannot output a signal to the main control board, and determines that the pot is currently in the target position, and the first posture position is the target position.

[0006] In one embodiment of the present invention, the position sensor is further provided with a second contact pin; a second copper circuit is further provided on the copper-clad board, and the second copper circuit and the second contact pin constitute a second switch. The second switch and the first switch are not simultaneously turned on. The on / off state of the main control circuit is controlled by the on / off state of the third switch, the first switch, and the second switch. When the second contact pin and the second copper circuit are in contact, the second switch is turned on; otherwise, the second switch is turned off. When the third switch is turned on, the on / off state is a conducting state when the second switch or the first switch is turned on; when the third switch is turned off, the on / off state is a disconnected state.

[0007] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The second contact pin, preferably, forms a second switch with the second copper circuit on the copper-clad board, connected to the main control circuit. The second switch is connected in parallel with the first switch and in series with the third switch. To avoid short circuits in the main control circuit, the second switch and the first switch do not simultaneously turn on. Therefore, the on / off state of the main control circuit can be controlled according to the on / off states of the third switch, the first switch, and the second switch on the main control circuit: When the third switch is off, the main control circuit is in an off state regardless of the on / off states of the first and second switches; when the third switch is on, the on / off state of the main control circuit is determined according to the on / off states of the first and second switches: when the first switch or the second switch is on, the main control circuit is in a conducting state; when both the first and second switches are off, the main control circuit is in an off state. The first posture position of the pot body is determined based on the on / off state: When the on / off state is off, the main control circuit cannot output a signal to the main control board, and it is determined that the pot body is currently in the target position, and the first posture position is the target position; When the on / off state is on, the first posture position of the pot body is determined based on the on / off state of the first switch and the second switch: When the first switch is on, the main control circuit can output a signal (at this time, the signal is the first signal) to the main control board, and the main control board determines that the pot body is currently in the first position based on the received first signal, and the first posture position is the first position; When the second switch is on, the main control circuit can output a signal (at this time, the signal is the second signal) to the main control board, and the main control board determines that the pot body is currently in the second position based on the received second signal, and the first posture position is the second position.

[0008] In another aspect, the present invention also provides a detection method for a cooking machine, which is applied to the detection device as described in Embodiment 1. The detection method includes: acquiring first information; determining the on / off state of the main control circuit based on the first information; and determining the first posture position of the pot body based on the on / off state and the first information. The first information includes: the on state of the first switch, the on state of the second switch, and the on state of the third switch.

[0009] Compared with existing technologies, the technical effects achieved by this solution are as follows: To make the process of finding the first posture position of the pot body more convenient and accurate, the first posture position of the pot body can be obtained through the on / off state of the main control circuit and the first information. Based on the first posture position, it can be determined whether the pot body is in the target position. There is no need to manually calibrate the initial position of the pot body. The detection device can automatically detect the first posture position of the pot body when it is powered on, saving time and effort. At the same time, it will be adaptable to various pot body models. The replacement and alteration of the pot body will not affect the detection device's ability to find the initial position. Therefore, no manual calibration is required after the pot body is replaced.

[0010] In one embodiment of the present invention, determining the first posture position of the pot body based on the on / off state and first information includes: determining that the first posture position is at a target position when the on / off state is off; and / or determining the first posture position based on the on / off state of the first switch and the on / off state of the second switch when the on / off state is on; determining that the first posture position is at a first position when the first switch is on and the second switch is off; and / or determining that the first posture position is at a second position when the first switch is off and the second switch is on; wherein, when the third contact pin contacts the third copper circuit, the third switch is on, otherwise it is off; when the first contact pin contacts the first copper circuit, the first switch is on, otherwise it is off; when the second contact pin contacts the second copper circuit, the second switch is on, otherwise it is off.

[0011] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: When the on / off state is off, the first posture position is determined to be at the target position (in this application, the target position is the initial position of the system), so the pot body does not need to enter the position search action to perform subsequent steps; when the on / off state is on, the first posture position of the pot body needs to be determined according to the on / off state of the first switch and the second switch: when the first switch is on, the first posture position is determined to be at the first position; when the second switch is on, the first posture position is determined to be at the second position.

[0012] On the other hand, the present invention also provides a cooking machine, comprising: a frame, the frame including a first frame, a second frame and a third frame, wherein a first accommodating space is formed between the first frame and the second frame, and a second accommodating space is formed between the second frame and the third frame; a pot body, the pot body being connected to the side of the first frame away from the first accommodating space via an output shaft; a detection device as in Embodiment 1, the detection device being disposed within the second accommodating space; and a drive shaft, the drive shaft connecting the pot body and a position sensor, wherein the rotation of the drive shaft drives the rotation of the pot body and the position sensor.

[0013] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The frame includes a first frame, a second frame, and a third frame. A first accommodating space is formed between the first and second frames, and a second accommodating space is formed between the second and third frames. The pot is installed on the side of the first frame away from the first accommodating space, which can be easily removed and installed according to the user's choice. The position sensor and copper-clad laminate in the drive shaft and detection device are all set in the second accommodating space. The drive shaft is connected to the second frame, and the copper-clad laminate is installed on the third frame. The drive shaft connects the pot and the position sensor. The position sensor contacts the copper-clad laminate through three contact pins. The position sensor is installed on the drive shaft in the cooking machine. The first, second, and third contact pins of the position sensor are connected to the drive shaft, and the three contact pins can rotate around the first axis of the drive shaft under the drive of the drive shaft. During the rotation of the drive shaft, the first, second, and third contact pins make circular motions on the copper-clad laminate at their respective radii.

[0014] In one embodiment of the present invention, the cooking machine further includes: a drive motor, which is mounted on the second frame and is used to drive the transmission shaft to rotate; and a transmission assembly, which connects the drive motor and the transmission shaft.

[0015] Compared with existing technologies, the technical advantages achieved by this solution are as follows: The drive motor is mounted on the second frame and located within the second accommodating space along with the transmission shaft. The drive motor is connected to the transmission shaft and drives its rotation. The transmission assembly is mounted on the second frame but located within the first accommodating space. The transmission assembly, drive motor, and transmission shaft are placed in two different accommodating spaces to avoid affecting the drive motor and transmission shaft. If it is necessary to change the initial position of the pot body, simply adjust the copper-clad plate contacted by the stylus pins and rotate it so that both stylus pins are simultaneously aligned with the desired position where the system is disconnected.

[0016] Furthermore, the present invention also provides a control method for a cooking machine, which is applied to the detection device in Embodiment 1 or the cooking machine in Embodiment 2. The control method includes: obtaining a first posture position of the pot body; determining whether the pot body needs to enter a position search action based on the first posture position; if it is determined that the pot body needs to enter a position search action, obtaining a second posture position of the pot body by controlling the operation of the drive motor, so that the second posture position is at the target position; and exiting the position search action when the second posture position is at the target position.

[0017] Compared with existing technologies, the technical effects achieved by this solution are as follows: The first attitude position determines whether the pot needs to enter a position-finding action; when the pot needs to enter a position-finding action, the drive motor is controlled to rotate the position sensor, and the first information of the position sensor is updated in real time. Based on the real-time updated first information, the second attitude position of the pot is obtained, ensuring that the second attitude position is at the target position. At this point, the pot's attitude position is at the target position (i.e., the system's initial position), indicating that the control system has finished finding the system's initial position and the system initialization is complete; when the second attitude position is at the target position, the position-finding action can be exited.

[0018] In one embodiment of the present invention, when it is determined that the pot body needs to enter a position search action, the second posture position of the pot body is obtained by controlling the operation of the drive motor, so that the second posture position is at the target position, including: when it is determined that the pot body needs to enter a position search action, controlling the operation of the drive motor according to the first posture position; detecting and updating the latest posture position of the pot body in real time to obtain the second posture position until the second posture position is at the target position; recording the marked position of the drive motor when the second posture position is at the target position; and controlling the drive motor to run to the marked position.

[0019] Compared with existing technologies, the technical effects achieved by this solution are as follows: When the pot body needs to enter a position-finding action, the direction of the drive motor is determined and controlled based on the first posture position. The movement of the drive motor drives the movement of the pot body (that is, the pot body moves with the drive motor during its operation). The position sensor is fixed to the pot body and moves with it, thereby changing the pot body's posture position and updating the first information of the position sensor in real time. Based on the real-time updated position sensor, the second posture position of the pot body is obtained, and it is determined in real time whether the second posture position has reached the system initial position. When the second posture position is at the system initial position, the marked position of the drive motor is recorded, indicating that the detection device has found the system initial position of the pot body. After finding the system initial position, the drive motor runs to the marked position according to the marked position, so that the pot body's posture position is at the target position (that is, the system initial position). This indicates that the detection device has finished finding the system initial position and the system initialization is complete.

[0020] In one embodiment of the present invention, controlling the drive motor to run to the marked position includes: controlling the drive motor to slowly decelerate to a complete stop; and controlling the drive motor to run to the marked position according to a first attitude position.

[0021] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: When the second attitude position is recorded as the target position, after the marked position of the drive motor (that is, after the initial position of the system is found), due to the characteristics of the drive motor itself, it cannot stop running immediately. Therefore, the drive motor is controlled to slowly decelerate to a complete stop. After the drive motor stops completely, the drive motor is made to run in the direction of the system initialization position and stop at the marked position. At this time, the attitude position of the pot body is at the target position (that is, the initial position of the system). This indicates that the control system has finished finding the initial position of the system and the system initialization is completed.

[0022] In one embodiment of the present invention, determining whether the pot body needs to enter a position search action based on the first posture position includes: determining that the pot body does not need to enter a position search action when the first posture position is at the target position; and / or determining that the pot body needs to enter a position search action when the first posture position is at the first position; and / or determining that the pot body needs to enter a position search action when the first posture position is at the second position.

[0023] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: When the first posture position is at the target position, since the pot body is already at the target position (in this application, the target position is the initial position of the system), the pot body does not need to enter the position search action to perform subsequent steps; when the first posture position is at the first position (in this application, the first position is the positive position of the system) or the second position (in this application, the second position is the negative position of the system), it means that the pot body is not at the initial position of the system, so the pot body needs to enter the position search action.

[0024] By adopting the above technical solution, at least the following technical effects can be achieved: (1) It can automatically detect the first posture position of the pot body. Specifically, it determines the first posture position of the pot body by the connection status of the third switch and the first switch. No manual detection is required, which saves time and effort and improves the accuracy of detection. (2) The second contact pin is preferred and forms a second switch with the second copper circuit on the copper-clad board. The on / off state of the main control circuit is controlled according to the on / off state of the third switch, the first switch and the second switch on the main control circuit. (3) Adaptable to various pot body models. The replacement and alteration of the pot body will not affect the detection device in finding the initial position. Therefore, manual calibration is not required after the pot body is replaced. (4) If it is necessary to change the initial position of the pot body posture, simply adjust the copper-clad plate contacted by the stylus and rotate it so that both stylus are simultaneously aligned with the required position of the system disconnection. Attached Figure Description

[0025] Figure 1This is a schematic diagram of a detection device for a cooking machine provided in Embodiment 1 of the present invention.

[0026] Figure 2 for Figure 1 A schematic diagram showing the relationship between the three styluses on the position sensor and the three copper circuits on the copper-clad board when the first posture position of the middle pot body is in the first position.

[0027] Figure 3 for Figure 1 A schematic diagram showing the relationship between the three styluses on the position sensor and the three copper paths on the copper-clad board when the first posture position of the middle pot body is in the second position.

[0028] Figure 4 for Figure 1 A schematic diagram showing the relationship between the three styluses on the position sensor and the three copper paths on the copper-clad board when the first posture position of the middle pot body is at the target position.

[0029] Figure 5 This is a schematic diagram of a cooking machine provided in Embodiment 3 of the present invention.

[0030] Figure 6 This is a schematic diagram of the system structure of the copper-clad laminate in Embodiment 1 of the present invention.

[0031] Figure 7 This is a schematic diagram of the system structure of the motor drive circuit and Hall sensor in Embodiment 3 of the present invention.

[0032] Figure 8 This is a schematic diagram of the system structure of the position sensor in Embodiment 1 of the present invention.

[0033] Explanation of reference numerals in the attached figures: 111, First contact pin; 112, Second contact pin; 113, Third contact pin; 120, Copper-clad laminate; 121, First copper path; 122, Second copper path; 123, Third copper path; 130, Drive shaft; 10, Cooking machine; 200, Frame; 201, First receiving space; 202, Second receiving space; 210, First frame; 220, Second frame; 230, Third frame; 300, Pot body; 400, Drive motor; 411, First transmission component; 412, Second transmission component. Detailed Implementation

[0034] To make the above-mentioned objectives, features, and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1 See Figure 1 This invention provides a detection device for a cooking machine 10 according to a first embodiment. The cooking machine 10 includes a frame 200 and a pot body 300, with the pot body 300 mounted on the frame 200. The detection device includes: a position sensor with a third contact pin 113 and a first contact pin 111; and a copper-clad laminate 120 with a third copper path 123 and a first copper path 121. The third copper path 123 and the third contact pin 113 constitute a third switch, and the first copper path 121 and the first contact pin 111 constitute a first switch. The third switch and the first switch... It is connected in series to the main control circuit, wherein the on / off state of the main control circuit is controlled by the on / off state of the third switch and the first switch, and the first posture position of the pot body 300 is determined according to the on / off state; wherein, when the third contact pin 113 and the third copper circuit 123 are in contact, the third switch is on, and vice versa; when the first contact pin 111 and the first copper circuit 121 are in contact, the first switch is on, and vice versa; when the third switch and the first switch are on, the on / off state is the conducting state; when the third switch and / or the first switch are off, the on / off state is the disconnected state.

[0036] In one specific embodiment, existing methods for finding the initial position of the pot body 300 mostly rely on counting using a motor Hall sensor, with the Hall value of the initial position calibrated at the factory, and then the machine running to the designated position upon power-on. This method requires manual calibration, which is time-consuming and labor-intensive, and is not universally applicable when changing to different pot bodies 300. The detection device for the cooking machine 10 provided in this embodiment can automatically detect the first posture position of the pot body 300 without manual detection, saving time and labor and improving detection accuracy. The detection device includes a position sensor and a copper-clad laminate 120. The position sensor is provided with a third contact pin 113 and a first contact pin 111. The copper-clad laminate 120 is provided with a third copper path 123 and a first copper path 121. The third copper path 123 and the first copper path 121 are always connected. The third copper path 123 and the third contact pin 113 constitute a third switch, and the first copper path 121 and the first contact pin 111 constitute a first switch. In this embodiment, the first posture position of the pot body 300 is determined by the on / off state of the third switch and the first switch, which eliminates the need for manual detection, saves time and effort, and improves the accuracy of detection. The on / off state of the third switch is determined by whether the third contact pin 113 and the third copper path 123 are in contact, and the on / off state of the first switch is determined by whether the first contact pin 111 and the first copper path 121 are in contact. The third switch and the first switch are connected in series in the main control circuit. The on / off state of the main control circuit can be controlled by the on / off state of the third switch and the first switch: the main control circuit is in the conducting state only when both the third switch and the first switch are on; the main control circuit is in the off state when only one of the third switch and the first switch is on. The first posture position of the pot body 300 is determined according to the on / off state: when the on / off state is in the conducting state, the main control circuit can output a signal (at this time, the signal is the first signal) to the main control board (the main control board can interact with the output signal of the main control circuit to identify the first posture position of the pot body). The main control board determines that the pot body 300 is currently in the first position based on the received first signal, and the first posture position is the first position; when the on / off state is in the off state, the main control circuit cannot output a signal to the main control board, and determines that the pot body 300 is currently in the target position, and the first posture position is the target position. The first contact pin 111 and the third contact pin 113 are fixedly plugged into the main control board. The main control board is provided with COM1 port and COM3 port. The first contact pin 111 is plugged into the COM1 port, and the third contact pin 113 is plugged into the COM3 port.

[0037] Specifically, when the third contact pin 113 is in contact with the third copper circuit 123, the third switch is in the ON state; when the third contact pin 113 is not in contact with the third copper circuit 123, the third switch is OFF. When the first contact pin 111 is in contact with the first copper circuit 121, the first switch is in the ON state; when the first pin is not in contact with the first copper circuit 121, the first switch is OFF.

[0038] Preferably, in this embodiment, the third switch can be always on. When the third switch is always on, the on / off state of the main control circuit can be controlled solely by the on / off state of the first switch, thereby determining the first posture position of the pot body 300. This further reduces the detection steps of the detection device and improves detection efficiency.

[0039] Furthermore, the position sensor is also provided with a second contact pin 112; the copper-clad laminate 120 is also provided with a second copper circuit 122, which is always connected to the third copper circuit 123. The second copper circuit 122 and the second contact pin 112 constitute a second switch. The second switch and the first switch are not simultaneously turned on. The on / off state of the main control circuit is controlled by the on / off state of the third switch, the first switch and the second switch. When the second contact pin 112 is in contact with the second copper circuit 122, the second switch is turned on, and vice versa. When the third switch is turned on, the on / off state is a conducting state when the second switch or the first switch is turned on; when the third switch is turned off, the on / off state is a disconnected state.

[0040] Specifically, the position sensor is also equipped with a second contact pin 112. Preferably, the second contact pin 112 and the second copper circuit 122 on the copper-clad laminate 120 form a second switch, which is connected to the main control circuit. The second switch and the third switch are connected in series, and the second switch and the first switch are not simultaneously turned on. Therefore, the on / off state of the main control circuit can be controlled according to the on / off state of the third switch, the first switch and the second switch on the main control circuit: when the third switch is off, the on / off state of the main control circuit is off regardless of the on / off state of the first switch and the second switch; when the third switch is on, the on / off state of the main control circuit is determined according to the on / off state of the first switch and the second switch: when the first switch or the second switch is on, the on / off state of the main control circuit is on; when both the first switch and the second switch are off, the on / off state of the main control circuit is off. The first posture position of the pot body 300 is determined based on the on / off state: When the on / off state is off, the main control circuit cannot output a signal to the main control board, and it is determined that the pot body 300 is currently in the target position, which is the target posture position; when the on / off state is on, the first posture position of the pot body 300 is determined based on the on / off state of the first and second switches: When the first switch is on, the main control circuit can output a signal (at this time, the signal is the first signal) to the main control board, and the main control board determines that the pot body 300 is currently in the first position based on the received first signal, which is the first posture position; when the second switch is on, the main control circuit can output a signal (at this time, the signal is the second signal) to the main control board, and the main control board determines that the pot body 300 is currently in the second position based on the received second signal, which is the second posture position. The second contact pin 112 is fixedly plugged into the main control board, which has a COM2 port, and the second contact pin 112 is plugged into the COM2 port.

[0041] Specifically, when the second contact pin 112 is in contact with the second copper circuit 122, the second switch is in the ON state; when the second contact pin 112 is not in contact with the second copper circuit 122, the second switch is OFF.

[0042] Preferably, in this embodiment, the third switch can be always on. When the third switch is always on, the first posture position of the pot body 300 can be determined by the on / off states of the first and second switches, which can further reduce the detection steps of the detection device and improve detection efficiency.

[0043] Preferred, see Figures 2-4The diagram shows the relationship between the three pins (first pin 111, second pin 112 and third pin 113) on the position sensor and the three copper paths (first copper path, second copper path and third copper path) on the copper-clad laminate 120 when the pot body 300 is in the first position, the second position and the target position, respectively. The three contact pins on the position sensor and the three copper paths on the copper-clad laminate 120 can be configured as shown in the three figures above: the first copper path is a first arc with radius R1, and the central angle of the first arc is angle A; the second copper path is a second arc with radius R2, and the central angle of the second arc is angle B; the third copper path is a third arc with radius R3, and the central angle of the third arc is angle C. The centers of the first, second, and third arcs coincide, and the centers fall on the first axis of the drive shaft 130, causing the first contact pin 111, the second contact pin 112, and the third contact pin 113 to rotate around the center with their respective radii, and to make contact with the first, second, and third copper paths respectively, ensuring the independence between the contact pins and the copper paths. As can be seen from the figures, the first switch and the second switch do not operate simultaneously, where ∠A + ∠B < 360°, ∠C = 360°; ∠A is angle A, ∠B is angle B, and ∠C is angle C. Preferably, R1>R2>R3.

[0044] See Figure 8 The diagram below illustrates the system structure of the position sensor in Embodiment 1 of this invention: When the first contact pin 111 and the third contact pin 113 of the position sensor are connected to the system ground and the second contact pin 112 is disconnected from the system ground, CD_1 and CD_3 are at low level, CD_2 is at high level, U9 and U12 are disconnected, U10 is connected, U8A and U8C input high level, and U8B inputs a low level signal. After the signal is inverted by U8, the position signal at this time is obtained as follows: CD_1_3 and CD_3_3 are at low level, and CD_2_3 is at high level. This position signal is received and processed by the main control board to determine that the pot body 300 is in the first position, which is the positive position in this embodiment. That is, when the contact pin is in contact with the system ground, the switch corresponding to the contact pin is turned on.

[0045] Similarly, when the second contact pin 112 and the third contact pin 113 of the position sensor are connected to the system ground and the first contact pin 111 is disconnected from the system ground, CD_2 and CD_3 are at low level, CD_1 is at high level, U10 and U12 are disconnected, U9 is connected, U8B and U8C input high level, and U8A input low level signal. After the signal is inverted by U8, the position signal at this time is: CD_2_3 and CD_3_3 are at low level, and CD_1_3 is at high level. This position signal is received by the main control board and processed to determine that the pot body 300 is in the second position. In this embodiment, the second position is the negative position.

[0046] Similarly, when the first contact pin 111, the second contact pin 112, and the third contact pin 113 of the position sensor are all disconnected from the system ground, CD_1, CD_2, and CD_3 are all at high level, U9, U10, and U12 are turned on, and U8A, U8B, and U8C input low level signals. After the signals are inverted by U8, the position signals at this time are: CD_1_3, CD_2_3, and CD_3_3 are all at high level. This position signal is received by the main control board and processed to determine that the pot body 300 is at the target position. In this embodiment, the target position is the initial position of the system.

[0047]

Example 2

[0048] Specifically, this embodiment provides a detection method for a cooking machine, which is applied to the detection device for a cooking machine as described in Embodiment 1. To make the process of finding the first posture position of the pot body more convenient and accurate, the first posture position of the pot body can be obtained through the on / off state of the main control circuit and the first information. Based on the first posture position, it is determined whether the pot body is in the target position. There is no need to manually calibrate the initial position of the pot body. The detection device automatically detects the first posture position of the pot body when it is powered on, saving time and effort. At the same time, it will adapt to various pot body models. The replacement and alteration of the pot body will not affect the detection device's ability to find the initial position. Therefore, manual calibration is not required after the pot body is replaced.

[0049] Preferably, the first information may include: the on / off state of the first switch (or whether the first contact pin and the first copper circuit are in contact), the on / off state of the second switch (or whether the second contact pin and the second copper circuit are in contact), and the on / off state of the third switch (or whether the third contact pin and the third copper circuit are in contact); the first information may also be: the high / low level of the position signals CD_1_3, CD_2_3, and CD_3_3 output by the position sensor. This method will use a position sensor to sense the position of the pot body, and will adapt to various pot body models without requiring factory calibration of the initial position Hall value.

[0050] Furthermore, based on the on / off state and the first information, the first attitude position of the pot body is determined, including: When the on / off state is off, it is determined that the first attitude position is at the target position; and / or When the on / off state is the on state, the first attitude position is determined according to the on state of the first switch and the on state of the second switch. When the first switch is turned on and the second switch is turned off, it is determined that the first attitude position is in the first position; and / or When the first switch is off and the second switch is on, it is determined that the first posture position is in the second position; Specifically, when the third contact pin contacts the third copper circuit, the third switch is turned on, and vice versa; when the first contact pin contacts the first copper circuit, the first switch is turned on, and vice versa; when the second contact pin contacts the second copper circuit, the second switch is turned on, and vice versa.

[0051] Specifically, when the on / off state is off, the first posture position is determined to be at the target position (in this application, the target position is the initial position of the system), so the pot body does not need to enter the position search action to perform subsequent steps; when the on / off state is on, the first posture position of the pot body needs to be determined according to the on / off state of the first switch and the second switch: when the first switch is on, the first posture position is determined to be at the first position; when the second switch is on, the first posture position is determined to be at the second position.

[0052] Preferably, when the on / off state is the on state, the first posture position of the pot body can be determined solely by the on state of the first switch or the second switch: when the first switch is on, the first posture position is determined to be in the first position, otherwise it is in the second position; when the second switch is on, the first posture position is determined to be in the second position, otherwise it is in the first position.

[0053]

Example 3

[0054] Specifically, the rack 200 includes a first frame 210, a second frame 220, and a third frame 230. A first receiving space 201 is formed between the first frame 210 and the second frame 220, and a second receiving space 202 is formed between the second frame 220 and the third frame 230. The pot body 300 is installed on the side of the first frame 210 away from the first receiving space 201, allowing for easy removal and installation according to the user's choice. The drive shaft 130, the position sensor in the detection device, and the copper-clad laminate 120 are all located in the second receiving space 202. The drive shaft 130 is connected to the second frame 220, and the copper-clad laminate 120 is installed in the second receiving space 202. The third frame 230 is connected to the pot body 300 and the position sensor via the drive shaft 130. The position sensor contacts the copper-clad plate 120 via three pins. The position sensor is mounted on the drive shaft 130 in the cooking machine 10. The first pin 111, the second pin 112 and the third pin 113 of the position sensor are connected to the drive shaft 130. The three pins can rotate around the first axis of the drive shaft 130 under the drive of the drive shaft 130. During the rotation of the drive shaft 130, the first pin 111, the second pin 112 and the third pin 113 make circular motions on the copper-clad plate 120 at their respective radii.

[0055] Meanwhile, the pot body 300 is provided with an output shaft (not marked in the figure), which connects the pot body 300 and the transmission shaft 130, so that the transmission shaft 130 can drive the pot body 300 to rotate. The first axis of the transmission shaft 130 and the second axis of the output shaft of the pot body 300 are collinear.

[0056] Preferably, the position sensor is specifically three stylus-type position sensors, each equipped with a first stylus 111, a second stylus 112, and a third stylus 113. The first attitude position of the pot body 300 can be obtained by processing the first information from the position sensor.

[0057] Furthermore, the cooking machine 10 also includes a drive motor 400 and a transmission assembly. The drive motor 400 is mounted on the second frame 220 and is used to drive the transmission shaft 130 to rotate. The transmission assembly connects the drive motor 400 and the transmission shaft 130.

[0058] Specifically, the drive motor 400 is mounted on the second frame 220 and is disposed within the second receiving space 202 along with the transmission shaft 130. The drive motor 400 is connected to the transmission shaft 130 and is used to drive the rotation of the transmission shaft 130. The transmission assembly is mounted on the second frame 220 but disposed within the first receiving space 201. The transmission assembly, drive motor 400, and transmission shaft 130 are placed in two different receiving spaces to avoid affecting the drive motor 400 and transmission shaft 130.

[0059] Preferably, a Hall sensor is installed inside the drive motor 400, and the drive motor 400 is used to trigger the Hall sensor. The signal processing circuit controls the Hall sensor to output a Hall signal, and the motor drive circuit controls the movement of the drive motor 400. Both the signal processing circuit and the motor drive circuit are located on the main control board. The main control board can be a controller, which connects the position sensor, the Hall sensor, the motor drive circuit, and the signal processing circuit. The controller receives and processes the first information output by the position sensor. After processing, the first information output by the position sensor generates a signal that can be recognized by the motor drive circuit, which then controls the movement state of the drive motor 400. When the drive motor 400 rotates, it triggers a Hall signal from the Hall sensor every certain angle of rotation. This Hall signal can be received and processed by the controller. In this application, the controller is a main control board installed on the transmission shaft 130, which may specifically include a microcontroller system.

[0060] Preferably, the transmission assembly includes a first transmission member 411 and a second transmission member 412. The first transmission member 411 is connected to the drive motor 400, and the second transmission member 412 is connected to the first transmission member 411 and the transmission shaft 130. The drive motor 400 drives the transmission shaft 130 to rotate around its first axis through the first transmission member 411 and the second transmission member 412.

[0061] Preferred, see Figure 7This is a schematic diagram of the system structure of the motor drive circuit and Hall sensor in the third embodiment of the present invention. The detailed driving method of the motor drive circuit is as follows: When the microcontroller needs to drive the motor to rotate 400° forward, the Hin1_3 pin outputs a PWM pulse signal, Lin1_3 outputs a high level, and the Hin2_3 and Lin2_3 pins simultaneously output a low level. After the signal passes through the U5 chip, the original 3V signal is boosted to a 5V signal, so that the Hin1_5 pin outputs a 5V PWM pulse signal and Lin1_5 outputs a 5V high level. The 3V and 5V power supplies are isolated to ensure that the signals from the two power domains do not interfere with each other and generate high-frequency noise. The pulse signal of Hin1_5 then passes through the U3 chip and is boosted to 30V again, and output through HO_M1. The high level of Lin1_5 is inverted to a low level by the U3 chip and output through LO_M1. Similarly, the low level signal of Lin2_5 is inverted by U4 and output through LO_M2, and then boosted to a 12V high level. At this time, HO_M1 is the PWM pulse signal, LO_M1 and HO_M2 are low, and LO_M2 is high, thus intermittently turning on Q2, turning off Q1 and Q4, and turning on Q3. Current flows from the positive terminal of the first power supply through Q2, into M1, through the motor, out through M2, and into the power supply ground after passing through Q3, forming a closed loop and causing the motor to rotate forward. When speed adjustment is required, simply changing the duty cycle of the PWM pulse can increase or decrease the speed of the drive motor. Chips U3 and U4 simultaneously have the functions of boosting the voltage to drive the switches of Q1, Q2, Q3, and Q4, and preventing Q2 and Q4 or Q1 and Q3 from turning on simultaneously, thus preventing a short circuit in the power supply.

[0062] Similarly, when the drive motor 400 needs to reverse, the Hin2_3 pin outputs a PWM pulse signal, Lin2_3 outputs a high level, and both Hin1_3 and Lin1_3 pins simultaneously output a low level. After passing through the U5 chip, the original 3V signal is boosted to a 5V signal, causing the Hin2_5 pin to output a 5V PWM pulse signal and the Lin2_5 pin to output a 5V high level. The 3V and 5V power supplies are isolated, ensuring that the signals from the two power domains do not interfere with each other and generate high-frequency noise. The Hin2_5 pulse signal then passes through the U4 chip, is boosted to 30V again, and output through HO_M2. The high level of Lin2_5 is inverted to a low level by the U4 chip and output through LO_M2. Similarly, the low level signal of Lin1_5 is inverted by U3 and output through LO_M1, then boosted to a 12V high level. At this time, HO_M2 is the PWM pulse signal, LO_M2 and HO_M1 are low, and LO_M1 is high. This causes Q1 to be intermittently turned on, Q2 and Q3 to be turned off, and Q4 to be turned on. Current flows from the positive terminal of the first power supply through Q1, into M2, through the motor, out through M1, and into the power supply ground after passing through Q4, forming a closed loop and causing the motor to reverse. When speed adjustment is required, simply changing the duty cycle of the PWM pulse can increase or decrease the speed of the drive motor.

[0063] When the drive motor 400 rotates, it triggers a Hall signal from the Hall sensor every certain angle. This Hall signal can be received and processed by the controller to calculate the running distance of the drive motor 400, with a minimum of one Hall value. When the drive motor 400 rotates, the Hall signal is input to HR_A_5 and HR_B_5 through the second copper circuit 122. After passing through a pair of capacitors and resistors, the instantaneous jitter signal is removed to reduce noise. Then, after passing through chip U6, the 5V Hall signal is stepped down to 3V and input to HR_A_3 and HR_B_3, and processed by the controller (a microcontroller in this embodiment). In addition to stepping down the voltage and adapting to the microcontroller's power domain, U6 can also isolate the 3V and 5V power supplies, so that external interference sources will not be transmitted to the microcontroller and interfere with the microcontroller's parsing of the Hall signal.

[0064] In the control of the 10-pot body 300 of the cooking machine, a point within the entire attitude control stroke is taken as the initial position. The position in front of the initial position is defined as the positive attitude position, and the position behind it is defined as the negative attitude position. (See also...) Figure 8This is a schematic diagram of the system structure of the position sensor in the second embodiment of the present invention. The stylus-type position sensor used in this application ensures that when the pot body 300 is in the positive position, the first stylus 111 contacts the system ground (negative power supply terminal), and the second stylus 112 is disconnected from the system ground; the opposite is true when the pot body 300 is in the negative position. When the pot body 300 is in the initial position, both the first stylus 111 and the second stylus 112 are disconnected from the system ground. The three stylus-type position sensors are connected to the circuit through a third copper circuit. The voltage is first pulled up to 5V by a resistor, ensuring that CD_1, CD_2, and CD_3 are at a 5V high level when the stylus is not connected to the system ground. U9, U10, and U12 step down the initial 5V signal of the stylus to a 3V signal that the microcontroller can process, and isolate the 3V and 5V power supplies to prevent external 5V noise from affecting the microcontroller's signal processing. If it is necessary to change the orientation of the pot body 300 in its initial position, simply adjust the copper-clad plate 120 that the stylus contacts, and rotate it so that both stylus contacts are simultaneously aligned with the desired position where the system is disconnected.

[0065]

Example 4

[0066] In one specific embodiment, existing methods for finding the initial position of a cooking pot mostly rely on counting using a motor Hall sensor. The Hall value for the initial position is calibrated at the factory, and the machine runs to the designated position upon power-on. This method requires manual calibration, which is time-consuming and labor-intensive, and is not universally applicable when changing different cooking pots. This embodiment provides a control method for a cooking machine. To position the cooking pot in a target position (in this application, the target position is the system initial position), specifically, the first posture position of the pot can be detected by switching on and off a first switch, a second switch, and a third switch. After detecting the first posture position, the drive motor needs to be controlled to run according to the first posture position to position the pot in the target position. This eliminates the need for manual calibration of the pot's initial position, allowing the cooking machine to automatically find the system initial position upon power-on, saving time and effort. Furthermore, it is adaptable to various pot models; pot replacement and alteration will not affect the cooking machine's ability to find the system initial position. Therefore, manual calibration is not required after pot replacement; simply powering on the cooking machine will automatically calibrate the system initial position.

[0067] The specific process for determining whether the pot needs to enter the position search action is as follows: When the cooking machine is powered on, the first posture position of the pot is obtained. Based on the first posture position, it can be determined whether the pot needs to enter the position search action. When the first posture position is at the target position, since the pot is already at the target position (in this embodiment, the target position is the system's initial position), the pot does not need to enter the position search action for subsequent steps. When the first posture position is at the first position (in this embodiment, the first position is the system's positive position) or the second position (in this embodiment, the second position is the system's negative position), it indicates that the pot is not at the system's initial position, and therefore the pot needs to enter the position search action.

[0068] The position finding process is as follows: When the pot body needs to enter the position finding action, the drive motor is controlled to run to drive the rotation of the position sensor and update the first information of the position sensor in real time. Based on the real-time updated first information, the second attitude position of the pot body is obtained, so that the second attitude position is at the target position. At this time, the attitude position of the pot body is at the target position (that is, the initial position of the system). This indicates that the control system has ended the search for the initial position of the system and the system initialization is completed. When the second attitude position is at the target position, the position finding action can be exited.

[0069] In this embodiment, the target position is the initial position of the system, the first position is the positive position of the system, and the second position is the negative position of the system. The running direction of the drive motor can also be any direction, as long as the target position is ultimately found. Among them, the first attitude position is the attitude position of the pot detected when the control system is powered on, which can also be expressed as the attitude position at the first moment; the second attitude position is the attitude position of the pot detected in real time after the pot enters the position search action, which can also be expressed as the attitude position at the second moment.

[0070] Generally, when the first posture position is in the first position, the drive motor is controlled to move in the second direction; when the first posture position is in the second position, the drive motor is controlled to move in the first direction. The first and second positions are defined according to the target position. The first position is located in the first direction of the target position, and the second position is located in the second direction of the target position. The first and second directions are opposite. When the first posture position is in the first position, the drive motor is controlled to move in the second direction, causing the pot body located in the first direction to also move in the second direction until it passes the target position; when the first posture position is in the second position, the drive motor is controlled to move in the first direction, causing the pot body located in the second direction to also move in the first direction until it passes the target position. In this embodiment, the first direction is the positive direction, and the second direction is the negative direction.

[0071] Preferably, when the drive motor rotates, a Hall signal is triggered by the Hall sensor every time it rotates a certain angle. This Hall signal can be received and processed by the controller, thereby calculating the running distance of the drive motor, with a minimum of 1 Hall value.

[0072] Preferably, this control method can also directly enter the position search action after obtaining the first posture position of the pot body, regardless of the specific situation of the first posture position: if the first posture position is in the target position, it is determined that the pot body is in the target position and the position search action is exited; if the first posture position is not in the target position, the drive motor is controlled to run to obtain the second posture position of the pot body, so that the second posture position is in the target position.

[0073] Furthermore, when it is determined that the pot body needs to enter a position to find the action, the second attitude position of the pot body is obtained by controlling the operation of the drive motor, so that the second attitude position is at the target position, including: When it is determined that the pot body needs to enter a position to find the action, the operation of the drive motor is controlled according to the first posture position; The latest attitude position of the pot body is detected and updated in real time to obtain the second attitude position, until the second attitude position is at the target position; Record the marked position of the drive motor when the second attitude position is at the target position; Control the drive motor to run to the marked position.

[0074] Specifically, the position-finding process is as follows: When the pot body needs to enter the position-finding phase, the direction of the drive motor is determined and controlled based on the first attitude position. The movement of the drive motor drives the movement of the pot body (that is, the pot body moves with the drive motor during its operation). The position sensor, fixed to the pot body, moves with the pot body, thereby changing the pot body's attitude position and updating the first information of the position sensor in real time. Based on the real-time updated position sensor, the second attitude position of the pot body is obtained, and it is determined in real time whether the second attitude position has reached the system initial position. When the second attitude position is at the system initial position, the marked position of the drive motor is recorded, indicating that the detection device has found the system initial position of the pot body. After finding the system initial position, the drive motor runs to the marked position according to the marked position, so that the pot body's attitude position is at the target position (that is, the system initial position). This indicates that the detection device has finished finding the system initial position and the system initialization is complete.

[0075] Preferably, after recording the marked position of the drive motor when the second posture position is at the target position, the control method may further include: marking the marked position as the target position and recording the Hall value H at this time; controlling the drive motor to slowly decelerate to a complete stop; controlling the drive motor to run to the coordinate point with the Hall value H according to the first posture position; resetting the coordinate system, setting the current position as the Hall value 0, exiting the position search action, ending the search for the initial position of the system, and completing the system initialization.

[0076] Furthermore, controlling the drive motor to run to the marked position includes: Control the drive motor to slowly decelerate until it comes to a complete stop; The drive motor is controlled to run to the marked position based on the first attitude position.

[0077] Specifically, after the second attitude position is recorded as the target position and the drive motor is marked (that is, after the initial position of the system is found), the drive motor cannot stop immediately due to its own characteristics. Therefore, the drive motor is controlled to slowly decelerate to a complete stop. After the drive motor stops completely, it is then moved towards the system initial position and stopped at the marked position. At this time, the attitude position of the pot body is at the target position (that is, the initial position of the system). This indicates that the control system has finished finding the initial position of the system and the system initialization is completed.

[0078] Furthermore, based on the first posture position, it is determined whether the pot body needs to enter the position to find the action, including: If the first posture position is at the target position, it is determined that the pot body does not need to enter the position to find the action; and / or When the first posture position is in the first position, it is determined that the pot body needs to enter the position to find the action; and / or When the first posture position is in the second position, it is determined that the pot body needs to enter the position to find the action.

[0079] Specifically, when the first posture position is at the target position, since the pot body is already at the target position (in this application, the target position is the initial position of the system), the pot body does not need to enter the position search action to perform subsequent steps; when the first posture position is at the first position (in this application, the first position is the positive position of the system) or the second position (in this application, the second position is the negative position of the system), it means that the pot body is not at the initial position of the system, so the pot body needs to enter the position search action.

[0080] The specific control method can be simplified as follows: ①. Power on the cooking machine and initialize the position sensor; ②. Read the first information from the position sensor and process it to determine whether the current pot body's posture position is in the positive, negative, or initial position of the system; ③. If the pot body's posture position is already in the initial position of the system, the search for the initial position ends, and the system initialization is complete; if it is in the positive position, control the drive motor to run in the negative direction at minimum speed while detecting changes in the position sensor; if it is in the negative position, control the drive motor to run in the positive direction at minimum speed while detecting changes in the position sensor; ④. When it is read that the first and second contact pins of the position sensor are simultaneously disconnected from the system ground, mark this point as the initial position of the system and remember the current Hall value, assuming it is H; ⑤. Control the drive motor to slowly decelerate until it stops completely; ⑥. Control the drive motor to run in the opposite direction to the coordinate point with a Hall value of H and stop; ⑦. Reset the coordinate system, set the current position as the Hall value of 0, exit the position search action, the search for the initial position of the system ends, and the system initialization is complete.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A detection device for a cooking machine (10), characterized in that, The detection device includes: A position sensor, wherein the position sensor is provided with a third contact pin (113) and a first contact pin (111); A copper-clad laminate (120) is provided with a third copper circuit (123) and a first copper circuit (121). The third copper circuit (123) and the third contact pin (113) constitute a third switch, and the first copper circuit (121) and the first contact pin (111) constitute a first switch. The third switch and the first switch are connected in series to the main control circuit. The on / off state of the main control circuit is controlled by the on / off state of the third switch and the first switch, and the first posture position of the pot body (300) is determined according to the on / off state. Specifically, when the third contact pin (113) contacts the third copper circuit (123), the third switch is turned on; otherwise, the third switch is turned off. When the first contact pin (111) contacts the first copper circuit (121), the first switch is turned on; otherwise, the first switch is turned off. When the third switch and the first switch are turned on, the on / off state is a conducting state. When the third switch and / or the first switch are turned off, the on / off state is a disconnected state.

2. The detection device according to claim 1, characterized in that, The position sensor is also provided with a second contact pin (112); The copper-clad laminate (120) is also provided with a second copper circuit (122), and the second copper circuit (122) and the second contact pin (112) constitute a second switch. The second switch and the first switch do not have a situation where they are turned on at the same time. The on / off state of the main control circuit is controlled by the on / off state of the third switch, the first switch and the second switch. When the second contact pin (112) and the second copper circuit (122) are in contact, the second switch is turned on; otherwise, the second switch is turned off. When the third switch is turned on, the on / off state is a conducting state when the second switch or the first switch is turned on; when the third switch is turned off, the on / off state is a disconnected state.

3. A detection method for a cooking machine, applied to the detection device as described in claim 2, characterized in that, The detection method includes: Obtain first information; Determine the on / off status of the main control circuit based on the first information; Based on the on / off state and the first information, determine the first posture position of the pot body; The first information includes: the on / off state of the first switch, the on / off state of the second switch, and the on / off state of the third switch.

4. The detection method according to claim 3, characterized in that, Determining the first orientation position of the pot body based on the on / off state and the first information includes: When the on / off state is off, it is determined that the first attitude position is at the target position; and / or When the on / off state is the on state, the first posture position is determined based on the on state of the first switch and the on state of the second switch. When the first switch is turned on and the second switch is turned off, it is determined that the first attitude position is in the first position; and / or When the first switch is off and the second switch is on, it is determined that the first posture position is in the second position; Specifically, when the third contact pin contacts the third copper circuit, the third switch is turned on, and vice versa; when the first contact pin contacts the first copper circuit, the first switch is turned on, and vice versa; when the second contact pin contacts the second copper circuit, the second switch is turned on, and vice versa.

5. A cooking machine (10), characterized in that, The cooking machine (10) includes: A rack (200) includes a first frame (210), a second frame (220) and a third frame (230), wherein a first receiving space (201) is formed between the first frame (210) and the second frame (220), and a second receiving space (202) is formed between the second frame (220) and the third frame (230); A pot body (300) is connected via an output shaft to the side of the first frame (210) away from the first receiving space (201); The detection device as described in any one of claims 1 to 2 is disposed within the second accommodating space (202); A drive shaft (130) connects the pot body (300) and the position sensor. The rotation of the drive shaft (130) drives the rotation of the pot body (300) and the position sensor.

6. The cooking machine (10) according to claim 5, characterized in that, The cooking machine (10) also includes: A drive motor (400) is mounted on the second frame (220) and is used to drive the transmission shaft (130) to rotate. A transmission assembly that connects the drive motor (400) and the drive shaft (130).

7. A control method for a cooking machine, applied to the detection device as described in any one of claims 1 to 2 or the cooking machine as described in claim 5 or 6, characterized in that, The control method includes: Obtain the first orientation position of the pot body; Determine whether the pot body needs to enter the position to search for the action based on the first posture position; When it is determined that the pot body needs to enter the position to find the action, the second posture position of the pot body is obtained by controlling the operation of the drive motor, so that the second posture position is at the target position. If the second posture position is at the target position, exit the position to search for an action.

8. The control method according to claim 7, characterized in that, When it is determined that the pot body needs to enter the desired position to perform an action, the step of controlling the drive motor to operate and obtaining a second posture position of the pot body, so that the second posture position is at the target position, includes: If it is determined that the pot body needs to enter the position to find the action, the operation of the drive motor is controlled according to the first posture position; The latest attitude position of the pot body is detected and updated in real time to obtain the second attitude position until the second attitude position is at the target position; Record the marked position of the drive motor when the second posture position is at the target position; Control the drive motor to run to the marked position.

9. The control method according to claim 8, characterized in that, Controlling the drive motor to run to the marked position includes: Control the drive motor to slowly decelerate until it comes to a complete stop; The drive motor is controlled to run to the marked position based on the first posture position.

10. The control method according to claim 7, characterized in that, The step of determining whether the pot body needs to enter the position search action based on the first posture position includes: If the first posture position is at the target position, it is determined that the pot body does not need to enter the position to search for an action; and / or When the first posture position is in the first position, it is determined that the pot body needs to enter the position to find the action; and / or When the first posture position is in the second position, it is determined that the pot body needs to enter the second position to find the action.

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