Control system, method, device, medium and program product

Abstract

The invention discloses a control system, method and equipment of cooking equipment, a medium and a program product. Comprising a controller, a motor, a first limiting switch and a second limiting switch. The motor is connected to a displacement assembly of the cooking equipment; the displacement assembly is used for driving a material box of the cooking equipment to move; the first limit switch is arranged at a first limit position; the second limit switch is arranged at a second limit position; the first limit position and the second limit position are limit moving positions of the material box respectively; in the process that the controller controls the motor to drive the displacement assembly to drive the material box to move, the controller detects the first on-off state of the first limiting switch and / or the second on-off state of the second limiting switch and regulates and controls the driving mode of the motor for the displacement assembly based on the first on-off state and / or the second on-off state. And the motor drives and changes the moving state of the displacement assembly based on the regulated and controlled driving mode so as to control the position of the material box.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cooking equipment control, and particularly relates to a cooking equipment control system, method, device, medium and program product. BACKGROUND

[0002] For cooking equipment, the position control of the ingredient box for putting food materials is very important for the stable putting of food materials and the safe operation of the cooking equipment. For example, for a stir-fry machine in the cooking equipment, the real-time position of the ingredient box is usually detected through multiple position sensors, and the moving state of the ingredient box is controlled based on the real-time position, so as to reduce the probability that the ingredient box collides with other parts of the stir-fry machine when moving to an extreme position and causes damage to the other parts. However, the setting of multiple position sensors makes the control method have a high cost. SUMMARY

[0003] In order to solve the above technical problems, the present application provides a cooking equipment control system, method, device, medium and program product.

[0004] The technical scheme provided by the present application is as follows: The present application provides a cooking equipment control system, which comprises a controller, a motor, a first limit switch and a second limit switch. Wherein: The controller is electrically connected to the motor, the first limit switch and the second limit switch; the motor is connected to a displacement component of the cooking equipment; the displacement component is used to drive an ingredient box of the cooking equipment to move; the first limit switch is arranged at a first limit position; the second limit switch is arranged at a second limit position; the first limit position and the second limit position are limit moving positions of the ingredient box respectively; the ingredient box is used to contain and put at least one kind of food material into a cooking pot of the cooking equipment; During the process that the controller controls the motor to drive the displacement component to drive the ingredient box to move, the controller detects a first switch state of the first limit switch and / or a second switch state of the second limit switch, and regulates and controls the driving mode of the motor for the displacement component based on the first switch state and / or the second switch state; The motor drives and changes the moving state of the displacement component based on the regulated and controlled driving mode, so as to control the position of the ingredient box.

[0005] The present application also provides a control method, which comprises: In a process that the displacement component of the cooking device is driven by the motor of the cooking device to move the cartridge of the cooking device, a first switch state of a first limit switch and / or a second switch state of a second limit switch are detected; wherein the first limit switch is arranged at a first limit position; the second limit switch is arranged at a second limit position; the first limit position and the second limit position are limit moving positions of the cartridge respectively; the cartridge is used to contain and drop at least one food material to a cooking pot of the cooking device; Based on the first switch state and / or the second switch state, the driving mode of the motor for the displacement component is regulated, and the motor is triggered to drive and change the moving state of the displacement component based on the regulated driving mode, so as to control the position of the cartridge.

[0006] The embodiments of the present application also provide a cooking device, which comprises a cartridge, a cooking pot and the control system as any one of the preceding.

[0007] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program; when the computer program is executed by a processor of a cooking device, the control method of the cooking device as any one of the preceding can be realized.

[0008] The embodiments of the present application also provide a computer program product, which comprises a computer program; when the computer program is executed by a processor of a cooking device, the control method of the cooking device as any one of the preceding can be realized.

[0009] The control system of the cooking equipment provided in the embodiments of the present application, a controller is electrically connected to a motor, a first limit switch and a second limit switch. The motor is connected to a displacement assembly in the cooking equipment for driving a material box to move. The material box is used for containing and feeding at least one food material to a cooking pot of the cooking equipment. The first limit switch and the second limit switch are respectively arranged at a first limit position and a second limit position at which the material box can move to the limit. Thus, in the above circuit structure, a plurality of position sensors are not included, so that the hardware cost of the control system can be reduced. During the process in which the controller controls the motor to drive the displacement assembly to move the material box, the controller detects a first switch state of the first limit switch and / or a second switch state of the second limit switch, and regulates the driving mode of the motor for the displacement assembly based on the first switch state and / or the second switch state. Thus, not only the real-time tracking and detection of the switch state of the first limit switch and / or the second limit switch are realized, but also the accuracy and pertinence of the driving mode can be improved by associating the driving mode with the first switch state and / or the second switch state. On this basis, the motor drives and changes the movement state of the displacement assembly based on the regulated driving mode, so as to control the position of the material box, and the accurate control of the position of the material box is realized. In summary, the control system provided in the embodiments of the present application can realize the accurate, real-time and flexible control of the position of the material box on the basis of reducing the hardware cost of the circuit. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 A structural schematic diagram of the control system of the cooking equipment provided in the embodiments of the present application is shown; Figure 2-1 A structural schematic diagram of a part module for driving the material box in the cooking machine provided in the embodiments of the present application is shown; Figure 2-2 A structural schematic diagram of the whole cooking machine is shown; Figure 3-1 A structural schematic diagram of the motor driving circuit provided in the embodiments of the present application is shown; Figure 3-2 A structural schematic diagram of the switch state feedback circuit provided in the embodiments of the present application is shown; Figure 4 Another structural schematic diagram of the control system provided in the embodiments of the present application is shown; Figure 5-1 A structural schematic diagram of the state detection circuit provided in the embodiments of the present application is shown; Figure 5-2 A structural schematic diagram of the hardware module included in the cooking machine provided in the embodiments of the present application is shown; Figure 5-3 A circuit principle diagram for the state detection of the inductive peripheral device provided in the embodiments of the present application is shown; Figure 5-4A circuit schematic diagram of the fan state detection provided for the embodiment of the present application is shown in FIG. 1. Figure 5-5 A temperature sensor state detection circuit provided for the embodiment of the present application is shown in FIG. 2. Figure 6 A flowchart of the control method provided for the embodiment of the present application is shown in FIG. 3. Figure 7 A flowchart of the control method provided for the embodiment of the present application is shown in FIG. 3. Figure 8-1 A circuit schematic diagram of the filter component provided for the embodiment of the present application is shown in FIG. 4. Figure 8-2 A circuit schematic diagram of the inverter provided for the embodiment of the present application is shown in FIG. 5. Figure 9 A flowchart of the control method provided for the embodiment of the present application is shown in FIG. 3. Figure 10 A structure schematic diagram of the cooking device provided for the embodiment of the present application is shown in FIG. 6. DETAILED DESCRIPTION

[0011] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application.

[0012] It should be understood that the specific embodiments described herein are merely intended to explain the present application and are not intended to limit the present application.

[0013] For a stir-fry machine in a cooking device, the position limit of a feeding box used for containing and feeding food materials is very important for the feeding control of the feeding box during the stir-frying process. In order to accurately control the position of the feeding box, the related art provides a method of setting multiple position sensors in the stir-fry machine, accurately detecting the position of the feeding box through the position sensors, and limiting and controlling the position of the feeding box in combination with a circuit or software control.

[0014] However, setting multiple position sensors in the circuit makes the above method have a high cost.

[0015] Based on the above technical problems, the embodiments of the present application provide a cooking device control system, method, device, medium and program product.

[0016] In an embodiment, the cooking device can include a device capable of automatically performing a cooking process to realize a cooking function; for example, the cooking device can include a stir-fry machine.

[0017] Figure 1 A structure schematic diagram of the cooking device control system provided for the embodiment of the present application is shown in FIG. 6. Figure 1As shown, the control system 100 can include a controller 101, a motor 102, a first limit switch 103, and a second limit switch 104; the controller 101 is electrically connected to the motor 102, the first limit switch 103, and the second limit switch 104; the motor 102 is connected to a displacement assembly of the cooking apparatus; the displacement assembly is configured to drive a cartridge of the cooking apparatus to move; the first limit switch 103 is arranged at a first limit position, and the second limit switch 104 is arranged at a second limit position; the first limit position and the second limit position are limit moving positions of the cartridge; the cartridge is configured to contain at least one food material and to feed the at least one food material into a cooking pot of the cooking apparatus.

[0018] During the process that the controller 101 controls the motor 102 to drive the displacement assembly to drive the cartridge to move, the controller 101 detects a first switch state of the first limit switch 103 and / or a second switch state of the second limit switch 104, and controls a driving mode of the motor 102 for the displacement assembly based on the first switch state and / or the second switch state; the motor 102 drives and changes a moving state of the displacement assembly based on the controlled driving mode, so as to control a position of the cartridge.

[0019] In an embodiment, the controller 101 can control a cooking process of the cooking apparatus, and can also control a running state of the control system 100; for example, the controller is at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller (MCU), and a microprocessor.

[0020] In an embodiment, the motor 102 can drive linear movement or rotational movement of the displacement assembly in a direct current or alternating current driving mode, so as to drive the cartridge to move in at least one direction.

[0021] In an embodiment, the motor 102 can be mechanically connected to the displacement assembly, so that after the motor 102 is switched to the running state in response to the control of the controller, the motor 102 drives the linear movement or the rotary movement of the displacement assembly by converting the electric energy into the mechanical energy; correspondingly, the material box can also be mechanically connected to the displacement assembly, so that the material box can be driven to move in at least one direction during the linear movement or the rotary movement of the mechanical assembly.

[0022] In an embodiment, the controller 101 can realize the indirect control of the movement state of the material box driven by the displacement assembly by controlling the running state of the motor 102; for example, the running state of the motor 102 can include the size of the mechanical energy output by the motor 102, and the size of the mechanical energy can correspond to the speed and / or distance of the movement of the material box driven by the displacement assembly, thereby realizing the indirect control of the position of the material box.

[0023] In an embodiment, the first limit position and the second limit position can include limit positions that can be reached by the material box driven by the displacement assembly.

[0024] In an embodiment, the displacement assembly can be a lead screw.

[0025] In an embodiment, the material box can be used to contain and dispense food and / or seasoning; for example, the food and the seasoning can be in solid and / or liquid state.

[0026] In an embodiment, at least one material box can be provided in the cooking device; correspondingly, the displacement assembly can drive the movement of the at least one material box in response to the driving operation of the motor 102; for example, the at least one material box can be repeatedly moved between the first limit position and the second limit position, or can be moved to the first limit position and / or the second limit position under the driving of the displacement assembly.

[0027] In an embodiment, the first switch state can include the open state or the closed state of the first limit switch 103, and the second switch state can include the open state or the closed state of the second limit switch 104.

[0028] In an embodiment, during the movement of the material box, if the material box moves to the first limit position, the material box can touch the first limit switch 103, so that the first switch state of the first limit switch 103 changes, and if the material box moves to the second limit position, the material box can touch the second limit switch 104, so that the second switch state of the second limit switch 104 changes.

[0029] Figure 2-1 The structure schematic diagram of the part module for driving the material box in the cooking machine provided by the embodiment of the present application is as follows: Figure 2-1As shown, the cooking machine can include a plurality of material boxes 201, and the lead screw 202 can be a displacement component that drives the material boxes 201 to move back and forth in the direction of the lead screw 202 by driving the movement of the sliding seat 203, wherein the sliding seat 203 and the material box 201 can be mechanically connected, and the limit positions of the movement of the material box 201 on the lead screw 202 include a first limit position where the first limit switch 103 is located and a second limit position where the second limit switch 104 is located; the motor 102 is arranged at one end of the lead screw, and is used to drive the rotation of the lead screw by the mechanical energy output by the motor 102 to drive the movement of the sliding seat 203.

[0030] Figure 2-2 The figure is a schematic diagram of the overall structure of the cooking machine. As shown, Figure 2-2 The cooking machine can include a powder material box 204, a food material box 205, a first storage box 206 (not explicitly shown in the figure), a second storage box 207, a third storage box 208, a cooking pot 209, a stir-frying arm 210, a central control screen 211, and a body 212.

[0031] The powder material box 204 can be used to contain food seasonings such as salt and monosodium glutamate, and to pour these food seasonings into the cooking pot 209; the food material box 205 is used to contain food material raw materials including dishes and / or meat, and to pour the food material raw materials into the cooking pot 209; the first storage box 206 is used to contain thickening or starch powder; the second storage box 207 is used to contain liquid such as cooking oil, and to pour the liquid such as cooking oil into the cooking pot when needed; the third storage box 208 is used to contain liquid such as water and soy sauce, and to pour the liquid into the cooking pot 209; the stir-frying arm 210 is used to stir and mix the food materials contained in the cooking pot 209 in response to the control of the controller, and the cooking pot 209 can be used to cook food, and after the cooking of the food is completed, the cooking pot 209 can change the pose to pour the cooked food into a plate; the central control screen 211 can select a target menu in response to the setting operation of the user, and control the above-mentioned components of the cooking machine to cooperate to perform the cooking operation according to the cooking process corresponding to the target menu; and the body 212 is used to carry, fix and protect the above-mentioned components.

[0032] Exemplarily, the material box in the embodiment of the present application can include the powder material box 204 and / or the food material box 205.

[0033] In an embodiment, in an initial state after the cooking device is powered on, the first limit switch 103 and the second limit switch 104 can both be in a closed state, so that a closed loop can be formed between the controller and the first limit switch 103 and the second limit switch 104, and if the first limit switch 103 or the second limit switch 104 is touched during the movement of the ingredient box, the first switch state or the second switch state can be changed, the controller 101 can track and detect the change state of the first switch state and / or the second switch state in real time, and change the driving mode of the motor according to the change state of the first switch state and / or the second switch state.

[0034] In an embodiment, the driving mode can include at least one of whether the motor 102 stops driving the displacement assembly, the driving speed, and the direction.

[0035] In an embodiment, the movement state of the ingredient box can include at least one of whether the ingredient box moves, the moving speed of the ingredient box, and the moving direction.

[0036] In an embodiment, the controller 101 regulates the driving mode, which can be realized by any of the following ways: When the controller 101 detects that the first switch state and / or the second switch state changes, the controller 101 switches the driving mode from the continuous running state of the motor to the stop running state of the motor, so that the displacement assembly stops driving the ingredient box to move; correspondingly, after the motor stops running, the position of the ingredient box can be stably controlled at the current position by the displacement assembly.

[0037] When the controller 101 detects that the first switch state and / or the second switch state changes, the controller 101 switches the driving mode from the first mechanical energy output state of the motor to the second mechanical energy output state, so as to change the driving speed of the displacement assembly to the ingredient box, so as to reduce the probability that the ingredient box collides with other components of the cooking device due to fast movement; correspondingly, by changing the driving speed, the position of the ingredient box can be controlled to change from fast movement to slow movement.

[0038] From the above, the control system of the cooking equipment provided in the embodiments of the present application is disclosed. The controller is electrically connected to the motor, the first limit switch and the second limit switch. The motor is connected to the displacement assembly for driving the material box to move in the cooking equipment. The material box is used for containing and feeding at least one food material to the cooking pot of the cooking equipment. The first limit switch and the second limit switch are respectively arranged at the first limit position and the second limit position where the material box can move to the limit. In the above circuit structure, a plurality of position sensors are not included, so that the hardware cost of the control system can be reduced. During the process that the controller controls the motor to drive the displacement assembly to move the material box, the controller detects the first switch state of the first limit switch and / or the second switch state of the second limit switch, and adjusts the driving mode of the motor for the displacement assembly based on the first switch state and / or the second switch state. In this way, not only the real-time tracking and detection of the switch state of the first limit switch and / or the second limit switch are realized, but also the accuracy and pertinence of the driving mode are improved by associating the driving mode with the first switch state and / or the second switch state. On this basis, the motor drives and changes the moving state of the displacement assembly based on the adjusted driving mode, so as to control the position of the material box, and the accurate control of the position of the material box is realized. In summary, the control system provided in the embodiments of the present application can realize the accurate, real-time and flexible control of the position of the material box on the basis of reducing the hardware cost of the circuit.

[0039] Based on the foregoing embodiments, in the control system 100 provided in the embodiments of the present application, during the process that the motor 102 drives the displacement assembly in the first mode, if the material box moves to the second limit position and touches the second limit switch 104, the second switch state is switched from the closed state to the open state. The controller 101 detects that the second switch state is switched from the closed state to the open state, adjusts the first mode to the second mode, and controls the motor to drive the displacement assembly in the second mode.

[0040] The first mode represents that the motor 102 drives the displacement assembly to move in the first direction. The first direction includes the direction in which the first limit switch 103 points to the second limit switch 104. The second mode represents that the motor 102 drives the displacement assembly to move in the second direction. The second direction includes the direction in which the second limit switch 104 points to the first limit switch 103. The driving mode includes the first mode and the second mode.

[0041] Correspondingly, during the process that the motor 102 drives the displacement assembly in the first mode, if the second switch state is not switched from the closed state to the open state, the controller 101 can not perform the operation of adjusting the first mode to the second mode, or the controller 101 can control the motor 102 to continue to drive the displacement assembly to move in the first mode.

[0042] In the embodiment of the present application, the control system further comprises a driving module and a feedback module; wherein the driving module is electrically connected to the controller and is used to drive the motor in response to the control of the controller; and the feedback module is electrically connected to the first limit switch and the second limit switch and is used to detect and feed back the first switch state and the second switch state to the controller.

[0043] In an embodiment, the driving module can comprise an H-bridge driving circuit.

[0044] Figure 3-1 A structural schematic diagram of the motor driving circuit provided by the embodiment of the present application is shown in FIG. 2, wherein four Metal-Oxide-Semiconductor Field-Effect Transistors (MOS) Q1-Q4 in the motor driving circuit form an H-bridge driving circuit to drive the motor J1, the resistor R20 is a current sampling resistor, and the motor driving circuit can be electrically connected to the first switch K1, the second switch K2 and the motor J1; wherein the first switch K1 can be a first limit switch, and the second switch K2 can be a second limit switch. Figure 3-1

[0045] Exemplarily, during the operation of the cooking machine, the first switch K1 and the second switch K2 can both be in a closed state, when the motor J1 drives the displacement assembly in the first mode, the current can pass from the A end to SW2B and the motor J1 via the first switch K1, and then pass from SWA1 to the B end via the second switch K2; at this time, the motor J1 can be in a forward rotation state.

[0046] In an embodiment, the feedback module can comprise a switch state feedback circuit.

[0047] Figure 3-2 A structural schematic diagram of the switch state feedback circuit provided by the embodiment of the present application is shown in FIG. 3, wherein the controller 101 can be electrically connected to the switch state feedback circuit 302, so as to obtain the change state of the first switch state and the second switch state; as shown in FIG. 4, the switch state feedback circuit can comprise a first optocoupler IC1 and a second optocoupler IC2. Figure 3-2 Figure 3-2

[0048] Exemplarily, when the first switch K1 and the second switch K2 are both in a closed state, SW1A end and SW2B end trigger the first optocoupler IC1 to conduct through the resistor R138, so as to make the Inside signal be a low level, and the controller 101 detects that the Inside signal is a low level, and can determine that the first switch K1 and the second switch K2 are both in a closed state.

[0049] ​​​Exemplarily, if the material box moves to the second limit position along the first direction, the material box will touch the second switch J2, so that the second switch is switched from the closed state to the open state, at this time, the current from the A end to the B end is disconnected, so that the motor is powered off and switched to the state of stopping driving the displacement assembly, thereby triggering the displacement assembly to stop driving the material box to move, and the movement of the material box is controlled to stop; at this time, the Inside signal is switched from low to high, and the controller 101 detects that the Inside signal becomes high, and it can be determined that the second switch state is switched to the open state, and the first mode corresponding to the first direction is adjusted to the second mode, that is, the motor is controlled to reverse, so as to indirectly control the displacement assembly to drive the material box to move in the second direction.

[0050] Exemplarily, the controller 101 controls the current to pass through the diode D42 from the B end to the motor J1 through the SW1A port, and then to the A port through the SW2B and the first switch K1, so as to trigger the motor to reverse; at this time, the reverse state of the motor J1 will trigger the displacement assembly to drive the material box to move in the second direction.

[0051] The motor is driven by the driving module in response to the control of the controller, so as to realize the isolation between the motor and the controller; and the feedback module can realize the tracking detection and real-time feedback of the switch state of the first limit switch and the second limit switch.

[0052] As can be seen from the above, in the control system provided by the embodiment of the application, if the material box moves to the second limit position and touches the second limit switch during the process that the motor drives the displacement assembly in the first mode, the second switch state is switched from the closed state to the open state, at this time, the controller adjusts the first mode to the second mode, and controls the motor to drive the displacement assembly in the second mode, wherein the moving directions of the displacement assembly represented by the first mode and the second mode are opposite. In this way, through the above operation, the controller realizes real-time control of the moving direction of the displacement assembly driving the material box by detecting the switching between the closed state and the open state of the second limit switch, so as to reduce the probability of damage to the cooking equipment caused by the material box reaching the second limit position and continuing to move; and through the detection of the controller on the closed state and the open state of the second limit switch, the driving control process of the motor can be simplified, the moving direction of the material box can be controlled simply, efficiently and accurately, and compared with the method of controlling by relying on the position data of multiple position sensors in the related art, the probability of incorrect control of the position of the material box due to software failure can be reduced.

[0053] Based on the foregoing embodiments, in the control system provided in this application embodiment, during the process of the motor 102 driving the displacement component in the second mode, if the material box moves to the first limit position and touches the first limit switch 103, the first limit switch 103 switches from the closed state to the open state; the controller 101 detects that the first switch state has switched from the closed state to the open state, adjusts the second mode to the first mode, and controls the motor 102 to drive the displacement component in the first mode.

[0054] The second mode represents the movement of the motor-driven displacement component along a second direction, which includes the direction in which the second limit switch points to the second limit switch; the first mode represents the movement of the motor-driven displacement component along a first direction, which includes the direction in which the first limit switch points to the second limit switch; the driving mode includes the first mode and the second mode.

[0055] Accordingly, during the process of the motor 102 driving the displacement component in the second mode, if the first switch remains closed, the controller may not switch the second mode to the first mode. In other words, the controller may control the motor to continue driving the displacement component in the second mode to move the material box along the second direction.

[0056] In one embodiment, during the process of the motor 102 driving the displacement component in the second mode, both the first limit switch and the second limit switch can be in a closed state; in this case, such as Figure 3-1 As shown, motor J1 can be in reverse rotation. Figure 3-2 When the second optocoupler IC2 is turned on, the Outside signal becomes low. Controller 101 detects that the Outside signal is low and determines that both the first switch K1 and the second switch K2 are closed. At this time, when the material box touches the first limit switch 103, causing the first switch to switch from closed to open, the Outside signal switches from low to high. Controller 101 detects that the Outside signal has switched from low to high and can control the motor J1 to switch from reverse to forward rotation. This allows current to flow from port A to diode D41 and motor J1, then through SW1A and the second switch K2 to port B. At this time, the Outside signal switches to low.

[0057] In an embodiment, in a case that the second switch state has been switched to the open state, when the controller 101 controls the motor to drive the displacement assembly to move in the second direction in the second mode, if the cartridge touches the first limit switch so that the first switch state is switched from the closed state to the open state, at this time, the current of the motor J1 can be switched to 0; in this case, the Outside signal and the Inside signal are both high level, and the controller 101 can determine that the first switch state and the second switch state are both in the open state according to the Outside signal and the Inside signal which are both in the high level; for example, the controller 101 can output warning information at this time to prompt that the first switch state and the second switch state are both in the open state.

[0058] As can be seen from the above, in the control system provided by the embodiments of the present application, in the process of driving the displacement assembly by the motor in the second mode, if the cartridge moves to the first limit position and touches the first limit switch, the first limit switch is switched from the closed state to the open state, and if the controller detects that the first switch state is switched from the closed state to the open state, the second mode is adjusted to the first mode, and the motor is controlled to drive the displacement assembly in the first mode, wherein the moving direction of the displacement assembly corresponding to the first mode is opposite to that corresponding to the second mode. In this way, through the above operation, the controller realizes real-time control of the moving direction of the cartridge driven by the displacement assembly by detecting the switching between the closed state and the open state of the first limit switch, so as to reduce the probability of damage to the cooking equipment caused by the cartridge reaching the first limit position and continuing to move; and through the detection of the controller on the closed state and the open state of the first limit switch, the driving control process of the motor can be simplified, and simple, efficient and accurate control of the moving direction of the cartridge is realized, which can reduce the probability of incorrect control of the position of the cartridge due to software failure compared with the method of relying on position data of multiple position sensors for control in the related art.

[0059] In summary, in the control system provided by the embodiments of the present application, the hardware limit of the two limit switches can improve the robustness of the movement process and position control of the cartridge.

[0060] Figure 4 Another structural diagram of the control system provided by the embodiments of the present application is shown in FIG. 6, in which Figure 4 As shown in FIG. 6, in the control system provided by the embodiments of the present application, the control system further includes a communication module 105 electrically connected to the controller 101; wherein, in the process of driving the cartridge to move by the motor 102, the controller 101 detects the first state data of at least part of the circuit of the control system, and sends the first state data to the communication module 105; the communication module 105 sends the first state data to a target device.

[0061] The target device is at least configured to store state data of the control system.

[0062] In an embodiment, the communication module 105 can have a wireless communication function; exemplary, the wireless communication function can include near field wireless communication and / or mobile communication function; wherein the near field wireless communication can include Blue Tooth (BT) communication, WiFi communication, Near Field Communication (NFC), and Star Flash communication, etc.; the mobile communication function can be realized by means of communication technology from 2G to 5G.

[0063] In an embodiment, the communication module 105 can have a wired communication function; exemplary, the wired communication function can transmit data by using tangible media such as metal wire and / or optical fiber, etc.

[0064] In an embodiment, at least part of the circuit can be determined by the controller 101, and can also be determined by the controller in response to the input of the user through the center control screen, and can also be determined according to the power consumption of each component or module in the control system, for example, the component or module with power consumption greater than or equal to the first threshold value in the control system can be determined as at least part of the circuit.

[0065] In an embodiment, the first state data can include at least one of the running state of at least part of the circuit, the amplitude of the electric energy, and the change state of the amplitude of the electric energy; exemplary, the running state can include whether at least part of the circuit is in the state of power-on running, and the electric energy can include at least one of the current, the voltage, and the power.

[0066] In an embodiment, the first state data can include the peak current and the average current of the motor in the control system.

[0067] Figure 5-1 The structure diagram of the state detection circuit provided by the embodiment of the present application is shown in Figure 5-1 As shown, the MGND1 in the state detection circuit can be electrically connected to the MGND1 associated with the sampling resistor R20 in FIG. 3, and the two ends of the sampling resistor R20 are connected to the 5th pin and the 6th pin of the operational amplifier U15A through the current limiting resistors R25 and R30; the 5th pin of U15A is divided by resistors R21 and R33 to make its voltage rise by 0.3V, which can reduce the probability of affecting the current detection accuracy due to too small sampling current; the current after U15A amplification is filtered by RC to obtain AD3_MOTO sent to the AD detection port of the controller 101.

[0068] Wherein, AD3 MOTO is the motor peak current, the motor peak current is filtered by RC to obtain AD4 MOTO, and AD4 MOTO is also sent to another AD detection port of the controller 101, and AD4 MOTO is the motor average current; for example, if AD3 MOTO is greater than 5A / 10ms (current / time), the controller 101 can determine that the motor peak current is overcurrent, and if AD4 MOTO is greater than 2A / 200MS (current / time), the controller 101 can determine that the motor average current is overcurrent. Generally, the motor peak current lasts for a short time, and the average current lasts for a relatively long time.

[0069] For example, if the duration of the motor peak current greater than 5A is greater than or equal to the second threshold, the controller can determine that the starting current of the motor is large, which is usually caused by the jamming of the lead screw structure when it is initially moved; and if the duration of the motor average current greater than 2A is greater than or equal to the third threshold, the controller can determine that the motor current is large during operation, which is usually caused by the unsmooth movement of the lead screw.

[0070] For example, the motor peak current AD3 MOTO is transmitted to the 3th pin of the comparator U15B, and compared with the threshold value corresponding to the 2th pin of U15B, and the output 1 pin is connected to the interrupt port of the controller 101; if the motor current is greater than or equal to 10A, CMOUT1 outputs high level, at this time the controller 101 can determine that the motor is short-circuited, and controls the H-bridge drive to stop driving the motor, so as to stop the motor running, thereby reducing the probability of damage to the control system.

[0071] Through the above circuit structure, the peak current and average current of the motor during operation can be detected in real time, thereby providing data support for overcurrent protection and short-circuit protection of the motor.

[0072] In an embodiment, the target device can include a cloud device or a server device associated with a cooking device such as a stir-fry machine device; for example, the cloud device or the server device can receive and store all state data sent by the control system for analysis of the state data; for example, professional technicians can analyze the state data stored in the cloud device or the server device to determine whether at least part of the circuit in the control system is abnormal.

[0073] For example, the controller can analyze the first state data, and in the case that the first state data is abnormal, the first state data is sent to the communication module 105 for sending the first state data to the target device.

[0074] From the above, the control system provided by the embodiment of the application further includes a communication module electrically connected to the controller. In the process of moving the magazine by the motor-driven displacement assembly, the controller detects first state data of at least part of the circuit of the control system, thereby realizing tracking detection of the state of at least part of the circuit, providing a data basis for circuit protection of at least part of the circuit, and reducing the probability of damage or failure of at least part of the circuit of the control system. Moreover, the first state data is sent to the target device through the communication component, and the target device is at least used for storing the state data of the control system, so as to realize synchronization of the first state data between the cooking device and the target device, realize solidification and backup of the state data of the control system in the target device, and thereby provide data support for analyzing the running state of at least part of the circuit in the control system.

[0075] Based on the foregoing embodiment, in the control system provided by the embodiment of the application, the control system further includes an output module 106 electrically connected to the communication module 105; wherein the communication module 105 receives second state data sent by the target device and sends the second state data to the output module 106; and the output module 106 outputs the second state data.

[0076] The second state data includes fault prompt data and / or maintenance prompt data of at least part of the circuit.

[0077] In an embodiment, the fault prompt data can include prompt data of a state fault of at least part of the circuit, such as prompt data of continuous overcurrent of the motor.

[0078] In an embodiment, the maintenance prompt data can include prompt data that at least part of the circuit is in a serious fault state and needs to be replaced or maintained.

[0079] In an embodiment, the second state data can further include fault prompt data and / or maintenance prompt data corresponding to a module classification result in the cooking device such as the frying machine, such as prompt data of a fault or maintenance of the NTC sensor.

[0080] In an embodiment, the second state data can be determined by a professional technician associated with the cooking device or the target device analyzing the state data stored by the target device, or can be determined by the target device automatically analyzing the state data stored by the target device.

[0081] In an embodiment, the output module 106 can include a display screen and an audio output module in the foregoing embodiments.

[0082] From the above, in the control system provided by the embodiment of the application, the communication module receives the second state data sent by the target device, the output module receives and outputs the second state data, and the second state data includes the fault prompt data and / or the maintenance prompt data of at least part of the circuit. In this way, the synchronization of the second state data between the target device and the cooking device is realized, and through the output module, the intuitive output of the second state data is realized, thereby providing data support for the user of the cooking device to learn the fault or maintenance state of at least part of the circuit of the control system in real time.

[0083] Based on the foregoing embodiment, in the control system provided by the embodiment of the application, the controller 101 is further configured to detect the wiring harness connection state of at least part of the hardware module in the cooking device, obtain third state data, and send the third state data to the communication module 105; and the communication module 105 sends the third state data to the target device.

[0084] In an implementation manner, at least part of the hardware module in the cooking device can include part of the hardware module corresponding to at least part of the circuit in the foregoing embodiment, and can also include a module other than the hardware module corresponding to at least part of the circuit; for example, at least part of the hardware module can include a heating module for heating, a temperature sensor for detecting temperature, a fan for heat dissipation, and the like.

[0085] For example, in the case of the cooking device being a wok, the hardware modules included in at least part of the hardware module can be as shown in Figure 5-2 . Figure 5-2 The structure diagram of the hardware modules included in the wok provided by the embodiment of the application is as shown in Figure 5-2 , at least part of the hardware module can include a controller 101, a motor 102, a pump 502, a fan 503, a solenoid valve 504, a heating module 505, a temperature sensor 506, a display screen 507, and a communication module 105; wherein the pump 502 can include a liquid pump and / or a gas pump, the heating module 505 can include a heating block and / or a heating wire, and the temperature sensor 506 can include a negative temperature coefficient thermistor (NTC) sensor.

[0086] Correspondingly, the third state data can include the wiring harness connection state between each module and the main body of the wok as shown above, and can also include the electrical energy parameters of at least part of the modules; for example, the electrical energy parameters can include the current size, the power size, and the like; for example, the wiring harness connection state can include normal wiring harness connection or abnormal wiring harness connection.

[0087] In related technologies, cooking equipment such as stir-fry machines contain the above-mentioned hardware modules. If the wiring harness of the above-mentioned hardware modules is damaged or disconnected or the wiring harness is abnormal after the stir-fry machine is powered on and started, it will affect the function of the stir-fry machine and may even lead to safety risks.

[0088] To solve the above technical problems, the various hardware modules can be classified to obtain module classification results. Then, each module in the module classification results can be classified and detected to obtain state detection data corresponding to the module classification results. Finally, the state detection data can be combined to obtain the third state data.

[0089] For example, motors, pumps, solenoid valves, and heating modules are inductive peripherals, and their internal resistance is low; for example, the first type of module in the module classification results may include inductive peripherals.

[0090] For example, for inductive peripherals, it can be achieved through... Figure 5-3 The circuit schematic shown is used for testing. Figure 5-3 The circuit schematic for inductive peripheral state detection provided in the embodiments of this application is as follows: Figure 5-3 As shown, an inductive peripheral device is connected between ports P4+ and P4-. When the cooking machine is powered on but the inductive peripheral device has not switched to the running state, P4+ and P4- are in an open circuit state, which is equivalent to no peripheral device being connected between them. At this time, P4_C can be high level. When the controller 101 detects that P4_C is high level, it can determine that there is no disconnection of inductive peripheral device between P4+ and P4- or that the wiring harness of the inductive peripheral device is abnormal. At this time, the controller 101 can send the first message of inductive peripheral device connection abnormality through the display screen or voice output component.

[0091] For example, when an inductive peripheral device is connected between P4+ and P4-, they can be in a conductive state. At this time, due to the low internal resistance of the inductive peripheral device, P4_C is at a low level. When the controller 101 detects that P4_C is at a low level, it can determine that an inductive peripheral device is connected between P4+ and P4-. In this case, the controller completes the power-on self-test of the inductive peripheral device, and related operations can be performed through these inductive peripheral devices.

[0092] For example, when controller 101 controls B4 to be high to turn on Q5, the inductive peripheral device can switch to the running state. At this time, P4+ is high, which makes P4_C high. If controller 101 detects that P4_C is high, it can determine that the inductive peripheral device is in the running state. Correspondingly, when controller 101 controls B4 to turn on Q5, if the controller detects that P4_C is low, it can determine that the inductive peripheral device is in a state of abnormal wiring harness connection.

[0093] Exemplarily, in the case that the controller determines that the inductive peripheral device is in the running state, the current of the inductive peripheral device load can be detected by sampling resistances R94 and R67, and the current after the RC filtering module composed of R60 and C58 is output to ADC11, and the controller can detect the current size of the inductive peripheral device through ADC11; Exemplarily, if the controller does not detect the current through ADC11, it can be determined that the inductive peripheral device is damaged or the wiring harness is abnormal, and if the controller detects that the current is greater than or equal to the fourth threshold value through ADC11, it can be determined that the current of the inductive peripheral device is too large.

[0094] Exemplarily, the controller can turn off Q14 by switching B4 to low, thereby controlling the inductive peripheral device to stop running.

[0095] Exemplarily, if the controller judges that the inductive peripheral device is in an abnormal state for three times in a row, the first information can be output through the display screen or the voice output module to prompt that the inductive peripheral device is in a wiring harness abnormal state or an overcurrent state.

[0096] Exemplarily, since the fan has a large internal resistance, the fan can be divided out alone, and accordingly, the second type of module in the module classification result can be a fan.

[0097] Exemplarily, the state of the fan can be detected by Figure 5-4 Exemplarily, the state of the fan can be detected by

[0098] Exemplarily, in Figure 5-4 , the CN10 is connected to the fan; when the wok is powered on but the fan is not started, FAN can be high, and the high level output by FAN is divided by R14 and R17 to make T_FAN a high level of 2.2V; and if the controller detects that T_FAN is low at this time, it can be determined that the wiring harness connection of the connected fan is abnormal, and the display screen and the voice output module of the wok can be controlled to output the second information to prompt that the fan wiring harness is abnormal; accordingly, if the controller detects that T_FAN is high, it can be determined that the wiring harness connection of the fan is normal, and at this time the power-on self-test of the fan is completed, and the subsequent air supply operation can be performed.

[0099] Exemplarily, in the case that the controller determines that the wiring harness connection of the fan is normal, the controller can control C_FAN to be high to trigger Q5 to open and make the fan work switch to the running state; wherein R113 and R114 can be current sampling resistances associated with the fan, and in combination with the filtering operation of R100 and C80, the controller can detect the size of the fan working current through AD_FAN.

[0100] Exemplarily, when the controller determines that the fan is in the running state, if it does not detect current through the AD_FAN, it can be determined that the fan is damaged or the wiring harness is abnormal; and when the controller detects that the current through the AD_FAN is greater than or equal to the fourth threshold value, it can be determined that the fan is overcurrent or the wiring harness is abnormal; exemplarily, if the controller determines that the fan is overcurrent or the wiring harness is abnormal for three times in succession, the second information can be output through the display screen or the voice output module to prompt that the fan is overcurrent or the wiring harness is abnormal.

[0101] Exemplarily, the temperature sensor such as the NTC sensor can detect the temperature of some components in the cooking machine; for the NTC sensor, the resistance value of the NTC sensor can be determined by detecting the voltage of the AD_TEM, and the temperature detected by the NTC sensor can be determined according to the resistance value of the NTC sensor. Figure 5-5 The temperature sensor state detection circuit provided by the application is implemented. As shown in Figure 5-5 R111 and NTC are divided, and then AD_TEM is obtained through the RC filter composed of R112 and C76, and the controller can determine the resistance value of the NTC by detecting the voltage of the AD_TEM, and further determine the temperature detected by the NTC according to the resistance value of the NTC.

[0102] Exemplarily, if the NTC is open-circuit and short-circuit, the AD_TEM only has high and low level changes, which will not cause damage to the NTC circuit; for example, when the NTC is in the open-circuit state, the AD_TEM can be 3.3V, and the controller detects the high level of 3.3V through the AD_TEM, and determines that the NTC is damaged or the wiring harness is abnormal based on the high level; for another example, if the NTC is in the short-circuit state, the controller detects 0V through the AD_TEM, and the controller can determine that the NTC is damaged or the wiring harness is abnormal.

[0103] Exemplarily, if the controller determines that the NTC is damaged or the wiring harness is abnormal for three times in succession, the third information can be output through the display screen or the voice output module to prompt that the NTC is damaged or the wiring harness is abnormal.

[0104] Exemplarily, the third state data can include the wiring harness abnormal state data of each of the above hardware modules, and can also include the current amplitude data of the above hardware components, and the controller can combine the state detection data represented by the wiring harness abnormal state data and the current amplitude data to obtain the third state data.

[0105] Exemplarily, the controller can directly send the third state data to the target device through the communication module 105, and can also send the third state data to the target device through the communication module 105 in the case that the third state data is determined to be abnormal data, so that the professional technicians analyze the third state data, and determine the after-sales instructions such as maintenance and module replacement of the cooking machine.

[0106] In an implementation, the communication module 105 can also receive fourth state data corresponding to the third state data sent by the target device, and output the fourth state data through the output module to prompt the user of the cooking device whether at least part of the hardware modules is in a fault state, a state requiring maintenance, a state requiring maintenance or replacement, etc.

[0107] As can be seen from the above, in the control system provided by the embodiments of the present application, the controller is further configured to detect the wiring harness connection state of at least part of the hardware modules in the cooking device to obtain third state data, so that the reuse of the controller in the control system is realized, and the tracking detection of the wiring harness connection state of at least part of the hardware modules in the cooking device is also realized. Moreover, the third state data is sent to the target device through the communication module, so that the synchronization of the third state data between the cooking device and the target device is realized, and data basis for tracking the wiring harness connection state of at least part of the hardware modules is provided.

[0108] Based on the foregoing embodiments, the control system provided by the embodiments of the present application further includes a positioning module 107 and an encoder 108. The positioning module 107 is arranged at an initial position of the ingredient box. The encoder 108 is connected to the motor 102. The number of the ingredient boxes is N. N is an integer greater than or equal to 1. In the control system, the controller 101 determines the first position of the first ingredient box based on the position data sent by the positioning module. If N is greater than or equal to 2, during the process of driving the displacement assembly to move by the motor, if the displacement assembly touches the nth ingredient box, the encoder sends an nth pulse sequence corresponding to the rotation state of the motor to the controller. The controller determines the nth displacement distance of the motor driving the displacement assembly based on the nth pulse number of the nth pulse sequence, and determines the nth position of the nth ingredient box based on the nth displacement distance. The controller controls the motor to drive the displacement assembly to move the mth ingredient box based on the mth position and the mth target position.

[0109] Wherein, n is an integer greater than or equal to 2 and less than or equal to N; m is an integer greater than or equal to 1 and less than or equal to N.

[0110] In an implementation, the positioning module 107 can be a single position sensor, which can be arranged at an initial position close to the first limit position to determine the position of the first ingredient box. Correspondingly, the position data sent by the positioning module 107 can include the initial position, and the first position can be the initial position.

[0111] In one embodiment, encoder 108 can be mechanically connected to motor 102. During the process of motor rotation driving displacement component to move the nth material box, encoder 108 can output the nth pulse sequence as the motor rotates and send the nth pulse sequence to controller 101. Controller 101 can obtain the number of nth pulses by counting the number of pulses contained in the nth pulse sequence. For example, the nth displacement distance moved by motor rotation driving displacement component can be proportional to the number of nth pulses. Therefore, the nth displacement distance can be determined based on the number of nth pulses.

[0112] For example, when the controller receives the box positioning command, it can control the motor 102 to drive the displacement component to move. The distance between the current position of the box and the initial position can be proportional to the number of pulses. For example, if the distance between the third box and the initial position is twice the distance between the second box and the initial position, and the number of second pulses associated with the second displacement distance from the initial position to the position of the second box is 1000, the number of third pulses associated with the third displacement distance from the initial position to the position of the third box can be 2000. After the displacement distance of the last box is determined, the displacement component can automatically return to the initial position. At this time, the encoder can stop outputting the pulse sequence. At the same time, after the controller records the position of each box, it can also clear the number of the nth pulse to zero.

[0113] In one implementation, the m-th target position may be included in the displacement control command; wherein, the displacement control command may be determined by the cooking process or cooking method of the cooking device, or may be determined by the central control screen of the cooking device in response to the user's settings; for example, the displacement control command may include the m-th identifier of the m-th container and the m-th target position; wherein, the m-th identifier may include the number or name of the m-th container.

[0114] Figure 6 This is a schematic diagram illustrating the process of controlling the movement of the material box according to an embodiment of this application. Figure 6 As shown, the process may include the following steps: S601, Begin.

[0115] S602, Receive material box position control command.

[0116] For example, the box position control instruction may include the m-th identifier of the m-th box that needs to be moved and the m-th target position; for example, the box position control instruction may be the displacement control instruction in the foregoing embodiments.

[0117] S603. Determine the direction of motor rotation based on the current position and the target position.

[0118] Exemplarily, the current position can include an mth position of an mth cartridge, and the target position can be an mth target position.

[0119] Exemplarily, the controller can determine the direction of rotation of the motor to be forward rotation or reverse rotation according to the relative positional relationship between the current position and the target position.

[0120] S604, the motor is uniformly run at a set speed after the slow start.

[0121] Exemplarily, the controller can achieve the slow start control of the motor by gradually increasing the current of the motor.

[0122] S605, whether short circuit is judged.

[0123] Exemplarily, whether the motor is short-circuited can be judged during the process that the motor drives the displacement assembly to move the mth cartridge, if the motor is short-circuited, the motor can be stopped and ended, if the motor is not short-circuited, S606 can be executed simultaneously during the process that the motor drives the displacement assembly to move the mth cartridge.

[0124] S606, whether overcurrent is judged.

[0125] Exemplarily, whether the motor is in overcurrent state can be judged, if the motor is in overcurrent state, the motor can be stopped and ended, if the motor is not in overcurrent state, S607 can be executed simultaneously during the process that the motor drives the displacement assembly to move the mth cartridge.

[0126] S607, whether the limit switch is triggered is judged.

[0127] Exemplarily, if the limit switch is triggered, the motor is stopped and ended, if the limit switch is not triggered, S608 can be executed simultaneously during the process that the motor drives the displacement assembly to move the mth cartridge.

[0128] S608, whether the target position is reached is judged.

[0129] Exemplarily, whether the motor drives the displacement assembly to move the mth cartridge to the mth target position can be judged, if the mth cartridge is moved to the mth target position, the motor is stopped and ended, if the mth cartridge is not moved to the mth target position, the motor drives the displacement assembly to move the mth cartridge.

[0130] S609, the motor is stopped.

[0131] S610, the process is ended.

[0132] Through the above process, during the process that the motor drives the displacement assembly to move, the running state of the motor can be continuously detected, so that the continuous tracking detection of the running state of the motor is realized, and thus the safety and controllability of the position control process of the cartridge are improved.

[0133] Figure 7 A flowchart for determining the current position of the ingredient box is provided in the embodiments of the present application, as shown in the figure, the flowchart can include the following steps: Figure 7 S701, start.

[0134] S702, one encoder pulse is detected.

[0135] S703, determine the rotation direction.

[0136] Exemplarily, if the rotation direction of the motor is forward rotation, S704 can be executed, and if the rotation direction of the motor is reverse rotation, S705 can be executed.

[0137] S704, the value of the pulse count variable is +1.

[0138] Exemplarily, the pulse count variable can include the number of pulses corresponding to the moving distance of the mth ingredient box during the movement of the displacement assembly.

[0139] Exemplarily, S706 can be executed after the execution of S704 ends.

[0140] S705, the value of the pulse count variable is -1.

[0141] Exemplarily, S706 can be executed after the execution of S705 ends.

[0142] S706, determine the current position of the ingredient box by the value of the pulse count variable.

[0143] S707, end.

[0144] Through the statistics of the single pulse of the encoder output shown in the above flowchart, the real-time tracking of the current position of the ingredient box is realized.

[0145] It should be noted that if the accuracy of the control of the position of the ingredient box is insufficient, the user can click the calibration option displayed on the central control screen of the cooking device such as the wok to re-determine the initial positions of the ingredient boxes, and then control the displacement of the ingredient boxes to the target positions according to the initial positions of the ingredient boxes and the corresponding target positions.

[0146] ​From the above, the control system provided by the embodiment of the application, the controller determines the first position of the first material box based on the position data sent by the positioning module, so that efficient positioning of the first material box is achieved through a single positioning module; and if N is greater than or equal to 2, the n-th position of the n-th material box is determined according to the n-th pulse number corresponding to the n-th pulse sequence sent by the encoder during the process of driving the displacement assembly to move by the motor, so that the n-th position of the n-th material box is positioned through the above method, and the dependence on multiple position sensors is eliminated, and the hardware cost of material box positioning is reduced; on this basis, the controller controls the displacement assembly to move the m-th material box based on the m-th position and the m-th target position, and precise control of the movement process of the m-th material box is achieved.

[0147] Based on the foregoing embodiment, the control system provided by the embodiment of the application further comprises a filtering module 109 electrically connected to the encoder 108; the filtering module receives the pulse sequence output by the encoder, performs filtering processing on the pulse sequence, and sends the filtered pulse sequence to the controller 101.

[0148] In an implementation manner, the filtering module 109 can comprise a filtering assembly and an inverter; the filtering assembly is configured to perform filtering processing on the pulse output by the encoder to obtain a filtered pulse, and then input the filtered pulse to the inverter, so that the inverter buffers and reverses the filtered pulse to obtain a filtered pulse sequence, and then sends the filtered pulse sequence to the controller.

[0149] Figure 8-1 The circuit principle diagram of the filtering assembly provided by the embodiment of the application is shown in Figure 8-2 The circuit principle diagram of the inverter provided by the embodiment of the application is shown in

[0150] As shown in Figure 8-1 , during the process of driving the first material box to move by the motor-driven displacement assembly, the pulse I1 output by the encoder is input to the filtering assembly, and after RC filtering composed of R10 and C6, S1 is obtained, and S1 is input to the 1A port of the inverter, so that the inverter buffers and filters it, and the filtered pulse sequence O1 output by the inverter is obtained through the 1Y port, and then O1 is sent to the controller, so that the interference of the pulse sequence output by the encoder on the encoder can be reduced.

[0151] Exemplarily, when the motor-driven displacement assembly drives the second material box and the third material box to move, the filtering assembly shown in Figure 8-1 may be used to filter the pulse sequence output by the encoder, and then the pulse sequence output by the filtering assembly is input to the 2A and 3A ports of the circuit shown in 8B, and then the filtered pulse sequence is obtained through the 2Y and 3Y ports, respectively.

[0152] From the above, the control system provided by the embodiment of the application further comprises a filtering module electrically connected to the encoder, the filtering module receives the pulse sequence output by the encoder and performs filtering processing on the pulse sequence, and sends the pulse sequence after filtering processing to the controller. In this way, through the above processing, the amount of clutter in the pulse sequence after filtering processing can be reduced, and the interference of the clutter on the statistical and processing process of the controller can also be reduced, so that the controller can accurately determine the number of rotations of the motor when driving the displacement assembly, thereby providing data support for accurate determination and control of the position of the material box.

[0153] The embodiment of the application further provides a control method. It should be noted that the above method can be applied to the cooking equipment comprising the control system as described above. Figure 9 The flowchart of the control method provided by the embodiment of the application is shown in FIG. 9, which can comprise the following steps: Figure 9 S901, detecting a first switch state of a first limit switch and / or a second switch state of a second limit switch in a process in which a motor drives a displacement assembly of a cooking equipment to drive a material box of the cooking equipment to move.

[0154] The first limit switch is arranged at a first limit position, and the second limit switch is arranged at a second limit position. The first limit position and the second limit position are limit moving positions of the material box. The material box is used to hold and feed at least one food material to a cooking pot of the cooking equipment.

[0155] In an embodiment, the motor can be controlled by the controller of the control system to drive the displacement assembly to move the material box, and the controller can also detect the first switch state and / or the second switch state. Specifically, the process in which the controller controls the motor to drive the displacement assembly to move the material box and the process in which the controller detects the first switch state and / or the second switch state can be as described in the foregoing embodiments, which will not be described here.

[0156] S902, based on the first switch state and / or the second switch state, regulating the driving mode of the motor for the displacement assembly, triggering the motor to drive and change the moving state of the displacement assembly based on the regulated driving mode, so as to control the position of the material box.

[0157] For example, the controller in the control system can detect the first switch state and / or the second switch state, and based on the first switch state and / or the second switch state, regulate the driving mode, and then control the motor to drive and change the moving state of the displacement assembly based on the regulated driving mode, so as to control the position of the material box.

[0158] In some embodiments, based on the second switch state, regulating the driving mode of the motor for the displacement assembly comprises: ​In the process of driving the displacement assembly by the motor in the first mode, if the second switch state is switched from the closed state to the open state, the first mode is adjusted to the second mode; wherein the second mode represents that the motor drives the displacement assembly to move in the second direction; the second direction includes a direction in which the second limit switch points to the first limit switch; in the process of driving the displacement assembly by the motor in the first mode, if the cartridge moves to the second limit position, the second switch state is triggered to switch from the closed state to the open state; the first mode represents that the motor drives the displacement assembly to move in the first direction; the first direction includes a direction in which the first limit switch points to the second limit switch; the driving mode includes the first mode and the second mode.

[0159] Exemplarily, in the process of controlling the motor to drive the displacement assembly in the first mode, a controller in the control system can detect whether the second switch state is switched from the closed state to the open state, and after detecting that the second switch state is switched from the closed state to the open state, the first mode is adjusted to the second mode.

[0160] In some embodiments, based on the first switch state, the driving mode of the motor for the displacement assembly is adjusted, including: In the process of driving the displacement assembly by the motor in the second mode, if it is detected that the first switch state is switched from the closed state to the open state, the second mode is adjusted to the first mode; wherein the first mode represents that the motor drives the displacement assembly to move in the first direction; the first direction includes a direction in which the first limit switch points to the second limit switch; in the process of driving the displacement assembly by the motor in the second mode, if the displacement assembly drives the cartridge to move to the first limit position and touch the first limit switch, the first limit switch is switched from the closed state to the open state; the second mode represents that the motor drives the displacement assembly to move in the second direction; the second direction includes a direction in which the second limit switch points to the first limit switch; the driving mode includes the first mode and the second mode.

[0161] Exemplarily, in the process of controlling the motor to drive the displacement assembly in the second mode, a controller in the control system can detect whether the first switch state is switched from the closed state to the open state, and after detecting that the first switch state is switched from the closed state to the open state, the second mode is adjusted to the first mode.

[0162] In some embodiments, the above method further includes: detecting first state data of at least part of a circuit of the control system; sending the first state data to a target device; wherein the target device is used at least for storing state data of the control system; the control system includes the motor, the first limit switch, the second limit switch, and a controller of the cooking device.

[0163] Exemplarily, the first state data can be detected by the controller, and the controller can also send the first state data to a communication module included in the control system, so that the communication module sends the first state data to the target device.

[0164] In some embodiments, the method further includes: receiving and outputting second state data sent by the target device; wherein the second state data includes fault prompt data and / or maintenance prompt data of at least part of the circuit.

[0165] Exemplarily, the second state data can be received by the communication module of the control system, and the communication module can also send the second state data to an output module of the control system, so that the output module outputs the second state data.

[0166] In some embodiments, the method further includes: detecting a wiring harness connection state of at least part of the hardware module included in the cooking device to obtain third state data; and sending the third state data to the target device.

[0167] Exemplarily, the wiring harness connection state can be detected by the controller of the control system to obtain the third state data, and the third state data can be sent to the communication module of the control system, so that the communication module sends the third state data to the target device.

[0168] In some embodiments, the number of the ingredient boxes is N; N is an integer greater than or equal to 1; and the method further includes: determining a first position of a first ingredient box based on position data sent by a positioning module arranged in the cooking device; If N is greater than or equal to 2, during the process of driving the displacement assembly by the motor, an nth pulse sequence sent by an encoder of the cooking device is received; wherein the nth pulse sequence corresponds to a rotation state of the motor, and the nth pulse sequence is output by the encoder after the displacement assembly touches an nth ingredient box; n is an integer greater than or equal to 2 and less than or equal to N; determining an nth displacement distance of the motor driving the displacement assembly based on an nth pulse number of the nth pulse sequence, and determining an nth position of the nth ingredient box based on the nth displacement distance; controlling the motor to drive the displacement assembly to move the mth ingredient box based on the mth position and an mth target position corresponding to the mth ingredient box; wherein m is an integer greater than or equal to 1 and less than or equal to N.

[0169] Exemplarily, the controller of the control system can determine the first position based on the position data sent by the positioning module; and the controller can also receive the nth pulse sequence and determine the nth position based on the nth pulse sequence; meanwhile, the controller can also control the motor to drive the displacement module to move the mth cartridge based on the mth position and the mth target position corresponding to the mth cartridge.

[0170] Exemplarily, the control system can further include the positioning module and the encoder.

[0171] In some embodiments, the method further includes: filtering the pulse sequence output by the encoder and sending the filtered pulse sequence to the controller of the control system.

[0172] Exemplarily, the pulse sequence output by the encoder included in the control system can be filtered by a filtering module included in the control system, and the filtered pulse sequence can be sent to the controller for processing by the controller to determine at least the nth position of the nth cartridge.

[0173] The embodiments of the present application further provide a cooking device, Figure 10 A structural schematic diagram of the cooking device provided by the embodiments of the present application is shown in FIG. 1. Figure 10 As shown in FIG. 1, the cooking device 1000 includes a cartridge 201, a cooking pot body 209, and the control system 100 as described in any one of the preceding embodiments.

[0174] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor of a cooking device to implement the control method of the cooking device as described in any one of the preceding embodiments.

[0175] The embodiments of the present application further provide a computer program product, which includes a computer program; and the computer program is executed by a processor of a cooking device to implement the control method of the cooking device as described in any one of the preceding embodiments.

[0176] The above description of the various embodiments tends to emphasize the differences between the various embodiments, and the same or similar parts can be referred to each other for brevity, which will not be described herein again.

[0177] The methods disclosed in the various method embodiments provided by the present application can be combined arbitrarily without conflict to obtain new method embodiments.

[0178] The features disclosed in the various product embodiments provided by the present application can be combined arbitrarily without conflict to obtain new product embodiments.

[0179] The features disclosed in the various method or device embodiments provided in the present application can be combined, if not in conflict, to form new method or device embodiments.

[0180] It should be noted that the computer-readable storage medium described above can be a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Ferromagnetic Random Access Memory (FRAM), a Flash Memory, a magnetic surface memory, an optical disc, or a Compact Disc Read-Only Memory (CD-ROM), etc. storage device; or can be various electronic devices including one or any combination of the above storage devices, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc.

[0181] It should be noted that in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0182] The above-mentioned sequence number of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments.

[0183] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware nodes, and of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods described in the various embodiments of the present application.

[0184] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices generate a device that realizes the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The functions specified in one block or multiple blocks.

[0185] These computer program instructions can also be stored in a computer-readable memory that can guide the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction devices that realize the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The functions specified in one block or multiple blocks.

[0186] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a process for realizing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The functions specified in one block or multiple blocks.

[0187] The above is only the preferred embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation made by using the contents of the specification and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control system for a cooking device, characterized in that, The control system includes a controller, a motor, a first limit switch, and a second limit switch; wherein: The controller is electrically connected to the motor, the first limit switch, and the second limit switch; the motor is connected to the displacement component of the cooking equipment; the displacement component is used to move the ingredient container of the cooking equipment; the first limit switch is set at a first extreme position; the second limit switch is set at a second extreme position; the first extreme position and the second extreme position are respectively the extreme movement positions of the ingredient container; the ingredient container is used to hold and add at least one food material to the cooking pot of the cooking equipment; During the process of the controller controlling the motor to drive the displacement component to move the material box, the controller detects the first switch state of the first limit switch and / or the second switch state of the second limit switch, and adjusts the driving mode of the motor for the displacement component based on the first switch state and / or the second switch state. The motor drives and changes the movement state of the displacement component based on the adjusted drive mode to control the position of the material box.

2. The control system according to claim 1, characterized in that, During the process of the motor driving the displacement component in the first mode, if the material box moves to the second limit position and touches the second limit switch, the state of the second switch switches from the closed state to the open state; wherein, the first mode indicates that the motor drives the displacement component to move along a first direction; the first direction includes the direction from the first limit switch to the second limit switch; The controller detects that the second switch state has switched from closed to open, adjusts the first mode to the second mode, and controls the motor to drive the displacement component in the second mode; wherein, the second mode indicates that the motor drives the displacement component to move along a second direction; the second direction includes the direction in which the second limit switch points to the first limit switch; the driving mode includes the first mode and the second mode.

3. The control system according to claim 1, characterized in that, During the process of the motor driving the displacement component in the second mode, if the material box moves to the first limit position and touches the first limit switch, the first limit switch switches from a closed state to an open state; wherein, the second mode indicates that the motor drives the displacement component to move along a second direction; the second direction includes the direction in which the second limit switch points to the first limit switch; The controller detects that the first switch state has switched from closed to open, adjusts the second mode to the first mode, and controls the motor to drive the displacement component in the first mode; wherein, the first mode indicates that the motor drives the displacement component to move along a first direction; the first direction includes the direction from the first limit switch to the second limit switch; the driving mode includes the first mode and the second mode.

4. The control system according to claim 1, characterized in that, The control system further includes a drive module and a feedback module; wherein the drive module is electrically connected to the controller and is used to drive the motor in response to the control of the controller; The feedback module is electrically connected to the first limit switch and the second limit switch, and is used to detect and feedback the state of the first switch and the state of the second switch to the controller.

5. The control system according to claim 1, characterized in that, The control system further includes a communication module electrically connected to the controller; wherein: During the process of the motor driving the displacement component to move the material box, the controller detects first state data of at least a portion of the circuit of the control system and sends the first state data to the communication module. The communication module sends the first status data to the target device; wherein the target device is at least used to store the status data of the control system.

6. The control system according to claim 5, characterized in that, The control system further includes an output module electrically connected to the communication module; wherein: The communication module receives the second status data sent by the target device and sends the second status data to the output module; The output module outputs the second status data; wherein the second status data includes fault indication data and / or maintenance indication data of at least a portion of the circuit.

7. The control system according to claim 5, characterized in that, The controller is also used to detect the wiring harness connection status of at least some hardware modules in the cooking device, obtain third status data, and send the third status data to the communication module. The communication module sends the third status data to the target device.

8. The control system according to claim 1, characterized in that, The control system further includes a positioning module and an encoder; the positioning module is positioned at the initial position of the material box; the encoder is connected to the motor; the number of material boxes is N; N is an integer greater than or equal to 1; wherein, The controller determines the first position of the first material box based on the position data sent by the positioning module; wherein the position data corresponds to the initial position; If N is greater than or equal to 2, during the process of controlling the motor to drive the displacement component to move, if the displacement component touches the nth material box, the encoder sends the nth pulse sequence corresponding to the rotation state of the motor to the controller; where n is an integer greater than or equal to 2 and less than or equal to N; The controller determines the nth displacement distance of the motor driving the displacement component based on the number of nth pulses in the nth pulse sequence, and determines the nth position of the nth material box based on the nth displacement distance; The controller controls the motor to drive the displacement component to move the m-th material box based on the m-th position and the m-th target position; where m is an integer greater than or equal to 1 and less than or equal to N.

9. The control system according to claim 8, characterized in that, The control system further includes a filter module electrically connected to the encoder; the filter module receives the pulse sequence output by the encoder, filters the pulse sequence, and sends the filtered pulse sequence to the controller.

10. A method for controlling a cooking device, characterized in that, The method includes: During the process of moving the material container of the cooking equipment by driving the displacement component of the cooking equipment through the motor, the first switching state of the first limit switch and / or the second switching state of the second limit switch are detected; wherein, the first limit switch is set at the first extreme position; the second limit switch is set at the second extreme position; the first extreme position and the second extreme position are respectively the extreme movement positions of the material container; the material container is used to hold and put at least one food material into the cooking pot of the cooking equipment; Based on the first switch state and / or the second switch state, the driving mode of the motor for the displacement component is adjusted, triggering the motor to drive and change the movement state of the displacement component based on the adjusted driving mode, so as to control the position of the material box.

11. The method according to claim 10, characterized in that, Based on the second switching state, adjusting the driving mode of the motor for the displacement component includes: During the process of the motor driving the displacement component in the first mode, if the second switch state switches from the closed state to the open state, the first mode is adjusted to the second mode; wherein, the second mode indicates that the motor drives the displacement component to move along a second direction; the second direction includes the direction in which the second limit switch points to the first limit switch; during the process of the motor driving the displacement component in the first mode, if the material box moves to the second limit position, the second switch state is triggered to switch from the closed state to the open state; the first mode indicates that the motor drives the displacement component to move along a first direction; the first direction includes the direction in which the first limit switch points to the second limit switch; the driving mode includes the first mode and the second mode.

12. The method according to claim 10, characterized in that, Based on the first switch state, adjusting the driving mode of the motor for the displacement component includes: During the process of the motor driving the displacement component in the second mode, if the state of the first switch is detected to switch from closed to open, the second mode is adjusted to the first mode; wherein, the first mode indicates that the motor drives the displacement component to move along a first direction; the first direction includes the direction in which the first limit switch points to the second limit switch; during the process of the motor driving the displacement component in the second mode, if the displacement component moves the material box to the first limit position and touches the first limit switch, the first limit switch switches from closed to open; the second mode indicates that the motor drives the displacement component to move along a second direction; the second direction includes the direction in which the second limit switch points to the first limit switch; the driving mode includes the first mode and the second mode.

13. The method according to claim 10, characterized in that, The number of the material boxes is N; N is an integer greater than or equal to 1; the method further includes: The first position of the first ingredient box is determined based on the position data sent by the positioning module in the cooking device. If N is greater than or equal to 2, during the process of the motor driving the displacement component, the nth pulse sequence sent by the encoder of the cooking device is received; wherein, the nth pulse sequence corresponds to the rotation state of the motor, and the nth pulse sequence is output by the encoder after the displacement component touches the nth container; n is an integer greater than or equal to 2 and less than or equal to N; Based on the number of nth pulses in the nth pulse sequence, the nth displacement distance of the motor driving the displacement component is determined, and the nth position of the nth material box is determined based on the nth displacement distance; Based on the m-th position and the m-th target position corresponding to the m-th material box, the motor is controlled to drive the displacement component to move the m-th material box; where m is an integer greater than or equal to 1 and less than or equal to N.

14. A cooking appliance, characterized in that, The cooking device includes at least a seasoning container, a cooking pot, and a control system as described in any one of claims 1 to 9.

15. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by the processor of the cooking device, enables the control method of the cooking device as described in any one of claims 10 to 13.

16. A computer program product, characterized in that, The program product includes a computer program; when the computer program is executed by the processor of the cooking device, it is able to implement the control method of the cooking device as described in any one of claims 10 to 13.

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