CN109696707B - Method for detecting cup of kitchen device - Google Patents
Method for detecting cup of kitchen device Download PDFInfo
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- CN109696707B CN109696707B CN201910040153.1A CN201910040153A CN109696707B CN 109696707 B CN109696707 B CN 109696707B CN 201910040153 A CN201910040153 A CN 201910040153A CN 109696707 B CN109696707 B CN 109696707B
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
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- G—PHYSICS
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
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Abstract
The invention provides a detection method of a material cup of a kitchen device, wherein the kitchen device comprises a base body and a material cup assembly, the base body is provided with a first magnetic coupling device and two Hall elements positioned on the outer side of the first magnetic coupling device, the material cup assembly is provided with a second magnetic coupling device, two connecting lines are formed from the two Hall elements to the central point of the first magnetic coupling device, and an included angle Q is formed between the two connecting lines; the detection method comprises the following steps: determining an error value of each Hall element; the detection value of each Hall element is subtracted from the error value to obtain a correction value; and judging whether the material cup assembly is placed in place or not according to the corrected value. The invention solves the problem that the detection of the material cup is inaccurate in the kitchen device in the prior art.
Description
Technical Field
The invention relates to the technical field of household appliances, in particular to a method for detecting a material cup of a kitchen device.
Background
The magnetic coupling stirring device of the seasoning machine detects whether the material cup is placed at the correct position through an infrared sensor. The work environment of the seasoning machine is difficult to avoid that the seasoning falls on the table top and adheres to the wall of the seasoning cup, so that the infrared sensor can make misjudgment.
There is a need for a more reliable, material cup detection device that is not affected by seasoning. For example, the magnetic poles of the magnetic coupling stirring device are arranged in a multi-pole manner along the circumference through the detection of the hall element, so that the magnetic induction intensity is periodically changed and cannot be simply read through the hall element) to judge whether the material cup exists.
That is, the kitchen device in the prior art has the problem of inaccurate material cup detection.
Disclosure of Invention
The invention mainly aims to provide a method for detecting a material cup of a kitchen device, which aims to solve the problem that the detection of the material cup is inaccurate in the kitchen device in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a method for detecting a cup of a kitchen device, the kitchen device includes a base and a cup assembly, the base has a first magnetic coupling device and two hall elements located outside the first magnetic coupling device, the cup assembly has a second magnetic coupling device, and the two hall elements form two connection lines to a central point of the first magnetic coupling device, and an included angle Q is formed between the two connection lines; the detection method comprises the following steps: determining an error value of each Hall element; the detection value of each Hall element is subtracted from the error value to obtain a correction value; and judging whether the material cup assembly is placed in place or not according to the corrected value.
Further, a phase angle W between magnetic induction intensities collected by the two hall elements corresponding to the included angle Q is greater than or equal to 70 degrees and less than or equal to 100 degrees.
Further, the included angle Q is calculated by the formula:
wherein P is the number of magnetic poles of the first magnetic coupling device, N is an integer starting from 0, and the included angle Q is less than or equal to 180 degrees.
Further, the following steps are adopted when determining the error value of each Hall element: determining an error value Δ a of the first hall element, the error value Δ a being calculated by equation (2):
when the first magnetic coupling device rotates for one or more circles, the maximum detection value detected by the first Hall element is B1(max), and the minimum detection value detected by the first Hall element is B1 (min);
determining an error value Δ B of the second hall element, the error value Δ B being calculated by equation (3):
when the first magnetic coupling device rotates one or more times, the maximum detection value detected by the second Hall element is B2(max), and the minimum detection value detected by the second Hall element is B2 (min).
Further, when the difference between the detection value of each hall element and the error value is obtained as the correction value, the method comprises the following steps: determining a correction value B1' of the first Hall element, B1 ═ B1- Δ A, wherein B1 is a detection value of the first Hall element; and determining a correction value B2' of the second Hall element, B2 ═ B2- Δ B, wherein B2 is the detection value of the second Hall element.
Further, the detection method comprises a first method, wherein when the step of judging whether the material cup assembly is placed in place according to the corrected value is carried out in the first method, the method comprises the following steps: determining the amplitude R of the magnetic induction intensity according to the correction value; and judging whether the material cup assembly is placed in place or not according to the amplitude R.
Further, the amplitude R is calculated by the formulas (4), (5):
b1 ═ rsin (x) + Δ a formula (4)
B2 ═ Rsin (x +90 °) + Δ B formula (5)
Wherein x is a phase angle of any one hall element with respect to 0 °.
Further, in the step of judging whether the material cup assembly is placed in place according to the amplitude R, if the amplitude R is larger than or equal to a first preset value, the material cup assembly is determined to be placed in place; and if the amplitude R is smaller than the first preset value, determining that the material cup assembly is not placed in place.
Further, the detection method comprises a second method, and in the second method, when the step of judging whether the material cup assembly is placed in place according to the corrected value is carried out, the method comprises the following steps: comparing the corrected value B1 'with the corrected value B2', taking the maximum value MAX (| B1'|, | B2' |) of the corrected value B1 'and the corrected value B2', comparing the maximum value MAX (| B1'|, | B2' |) with a second preset value, and determining that the material cup assembly is not placed in place if the maximum value MAX (| B1'|, | B2' |) is greater than or equal to the second preset value; and if the maximum value MAX (| B1'|, | B2' |) is smaller than a second preset value, determining that the material cup assembly is placed in place.
Further, the detection method includes a third method, in the third method, when the step of judging whether the material cup assembly is placed in place according to the correction value is performed, the third method includes the following steps of comparing the correction value B1 'with the correction value B2', taking a maximum value MAX (| B1'|, | B2' |) of the correction value B1 'and the correction value B2', comparing the maximum value MAX with a second preset value, summing absolute values of the correction value B1 'and the correction value B2' to obtain | B1'| + | B2' |, comparing the absolute values with a third preset value, and determining that the material cup assembly is not placed in place if the maximum value MAX (| B1'|, | B2' |) is greater than or equal to the second preset; if the maximum value MAX (| B1'|, | B2' |) is smaller than the second preset value and | B1'| + | B2' | is larger than or equal to the third preset value, it is determined that the material cup assembly is not placed in place; and if the maximum value MAX (| B1'|, | B2' |) is smaller than the second preset value and/or | B1'| + | B2' | is smaller than the third preset value, determining that the material cup assembly is placed in place.
By applying the technical scheme of the invention, the detection method of the material cup of the kitchen device comprises a base body and a material cup assembly, wherein the base body is provided with a first magnetic coupling device and two Hall elements positioned on the outer side of the first magnetic coupling device, the material cup assembly is provided with a second magnetic coupling device, two connecting lines are formed from the two Hall elements to the central point of the first magnetic coupling device, and an included angle Q is formed between the two connecting lines; the detection method comprises the following steps: determining an error value of each Hall element; the detection value of each Hall element is subtracted from the error value to obtain a correction value; and judging whether the material cup assembly is placed in place or not according to the corrected value.
The hall element is provided in the cooking device, whereby the change in the magnetic field of the first magnetic coupling device and the second magnetic coupling device can be detected, and when the cup assembly is not provided on the base, the hall element is influenced only by the magnetic field generated by the first magnetic coupling device, and when the cup assembly is provided on the base, the hall element is influenced by both the magnetic fields generated by the first magnetic coupling device and the second magnetic coupling device. Therefore, whether the material cup assembly is placed in place or not can be judged through the correction value of the detection value of the Hall element, the accuracy of detection of the kitchen device is improved, the phenomenon that the kitchen device is rotated due to the fact that the material cup assembly is not placed is avoided, the material cup assembly is damaged, and the service life of the kitchen appliance is prolonged.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a schematic view of the overall structure of a cooking appliance according to an alternative embodiment of the present invention; and
FIG. 2 shows an angled cross-sectional view of the cooking appliance of FIG. 1;
FIG. 3 shows a top view of the substrate of FIG. 2;
FIG. 4 is a schematic diagram of the first magnetic coupling arrangement of FIG. 3;
FIG. 5 shows a graph of the distribution of magnetic induction produced at different distances from the magnetic coupling (with a cup in dashed lines and without a cup in solid lines);
FIG. 6 is a graph showing the distribution of magnetic induction detected when the Hall element is close to the magnetic coupling (dotted line with cup, solid line without cup);
FIG. 7 is a graph showing the distribution of magnetic induction detected when the Hall element is farther from the first magnetic coupling (dotted line with cup, solid line without cup);
FIG. 8 is a graph showing the relationship between amplitude R intensity with and without cup (with cup in dashed lines and without cup in solid lines);
fig. 9 shows a schematic diagram of the relationship between MAX (| B1'|, | B2' |) with and without a cup (broken line is with a cup, solid line is without a cup);
FIG. 10 shows a schematic of the relationship between | B1'| + | B2' | with and without cup (with cup in dashed lines and without cup in solid lines);
fig. 11 shows a schematic diagram of the relationship between | B1'| + | B2' | and MAX (| B1'|, | B2' |) when the phase angle W is 90 °;
fig. 12 is a diagram showing a relationship between | B1'| + | B2' | and MAX (| B1'|, | B2' |) when the phase angle W is 80 °;
fig. 13 shows a relationship between | B1'| + | B2' | and MAX (| B1'|, | B2' |) when the phase angle W is 70 °.
Wherein the figures include the following reference numerals:
10. a substrate; 11. a first magnetic coupling device; 12. a Hall element; 13. a PCB board; 20. a material cup assembly; 21. a second magnetic coupling device; 30. a partition plate; 40. an internal rotation device.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.
The invention mainly aims to provide a method for detecting a material cup of a kitchen device, which aims to solve the problem that the detection of the material cup is inaccurate in the kitchen device in the prior art.
As shown in fig. 1 to 10, a method for detecting a cup of a kitchen device, the kitchen device includes a base 10 and a cup assembly 20, the base 10 has a first magnetic coupling device 11 and two hall elements 12 located outside the first magnetic coupling device 11, the cup assembly 20 has a second magnetic coupling device 21, and two hall elements 12 form two connection lines to a central point of the first magnetic coupling device 11, and an included angle Q is formed between the two connection lines; the detection method comprises the following steps: determining an error value for each hall element 12; the detection value of each Hall element 12 is subtracted from the error value to obtain a correction value; and judging whether the material cup assembly 20 is placed in place or not according to the corrected value.
By providing the hall element 12 in the kitchen appliance, the change in the magnetic fields of the first magnetic coupling device 11 and the second magnetic coupling device 21 can be detected by the hall element 12, and when the cup assembly 20 is not provided in the base 10, the hall element 12 is influenced only by the magnetic field generated by the first magnetic coupling device 11, and when the cup assembly 20 is provided in the base 10, the hall element 12 is influenced by the magnetic fields generated by both the first magnetic coupling device 11 and the second magnetic coupling device 21. Therefore, whether the material cup assembly 20 is placed in place or not can be judged through the correction value of the detection value of the Hall element 12, the accuracy of detection of the kitchen device is improved, the phenomenon that the kitchen device is rotated due to the fact that the material cup assembly 20 is not placed is avoided, the material cup assembly 20 is damaged, and the service life of the kitchen appliance is prolonged.
Specifically, the phase angle W between the magnetic inductions collected by the two hall elements 12 corresponding to the included angle Q is greater than or equal to 70 degrees and less than or equal to 110 degrees. The phase angle W between the magnetic inductions collected by the two hall elements 12 is distributed between 70 degrees and 90 degrees, so that the change of the correction value between the two hall elements 12 can be better compared.
Alternatively, the included angle Q is calculated by equation (1):
where P is the number of magnetic poles of the first magnetic coupling device 11, N is an integer and starts from 0, and the included angle Q is equal to or less than 180 degrees.
Satisfied by the angle between two Hall elements 12
In order to make the phase angle between the magnetic induction strengths collected by the two hall elements 12 be distributed in ± 90 °, the two hall elements 12 are adopted, and the phase angle between the collected magnetic induction strengths is 90 degrees, which is to obtain the optimal distribution of signals so as to better compare the change of the correction value between the two hall elements 12.
It should be noted that the angle between the two hall elements 12 and the phase angle W between the magnetic induction collected by the two hall elements 12 have
Where P is an even number (poles N, S are arranged at intervals) of the number of magnetic poles 2, 4, 6, 8 of the first magnetic coupling device 11. When 2 poles are used, 1 360 sine wave appears during a 360 rotation of the coupling device (N and S are flipped 1 time). The angle Q and the phase angle W are identical. So with 2 poles, the angle Q is (90 ° + N × 180 °), N is 0, and N is 1, the angle Q is 90 ° or 270 ° (i.e., -90 °). When N is other integers, for example, N is 2, the included angle Q is (90 degrees +360 degrees), (namely 90 degrees), the included angle Q is 90 degrees or-90 degrees, and the phase angle W and the included angle Q are both 90 degrees or-90 degrees in a consistent manner; when 4 poles are used, 2 sinusoids (360 ° × 2) appear during 360 ° rotation of the coupling device (N and S are flipped 2 times). That is, the phase angle W is the included angle Q × 2, and so on, when 6 magnetic poles are adopted, 3 sine waves appear, and the phase angle W is the included angle Q × 3; when 8 poles are used, 4 sine waves appear, and the phase angle W is equal to the included angle Q × 4. Namely, it is
Therefore, when the pole is P, the angle Q is (180 °/(P) + N × (360 °/(P)), and the phase angle W is (180 °/(P) + N × (360 °/(P) × (P ÷ 2) × 90 ° + N × 180 °.
The kitchen device further comprises a partition plate 30 and an internal rotating device 40, wherein the material cup assembly is located above the partition plate 30, the base body 10 is located below the partition plate 30, the base body 10 is mounted above the internal rotating device 40, the internal rotating device 40 can drive the first magnetic coupling device 11 to rotate, and when the internal rotating device 40 rotates, the material cup assembly 20 is driven to rotate on the partition plate 30 through magnetic transmission between the first magnetic coupling device 11 and the second magnetic coupling device 21. It should be noted that the internal rotating device 40 is a motor. Because the magnetic poles of the magnetic coupling device are periodically distributed, as shown in fig. 5, the magnetic induction intensity distribution along the magnetic coupling device has different diameters from the center of the magnetic coupling device and has different distribution rules. Near the magnetic coupling, the wave is distributed in a trapezoidal pattern, as shown in fig. 6. Farther from the magnetic coupling, a sine wave-like distribution is shown in fig. 7. Of course, there may be a transition waveform between the two (not shown). The base body 10 further comprises a PCB 13 on which the first magnetic coupling 11 and the hall element 12 are mounted.
The distance of the two hall elements 12 from the center of the magnetic coupling can be determined in advance by tests and arranged at a position where the sinusoidal distribution is obvious.
Specifically, the following steps are adopted when determining the error value of each hall element 12: an error value Δ a for the first hall element 12 is determined, which error value Δ a is calculated by equation (2):
when the first magnetic coupling device 11 rotates one or more times, the maximum detection value detected by the first hall element 12 is B1(max), and the minimum detection value detected by the first hall element 12 is B1 (min); an error value Δ B of the second hall element 12 is determined, which error value Δ B is calculated by equation (3):
when the first magnetic coupling device 11 rotates one or more times, the maximum detection value detected by the second hall element 12 is B2(max), and the minimum detection value detected by the second hall element 12 is B2 (min).
The error values delta A and delta B can be recorded into the software of the equipment before leaving the factory; or when the computer is started, the internal rotating device 40 is made to rotate once by itself, the startup tests B1(max), B2(max), B1(min) and B2(min) are performed each time, and then the delta A and the delta B are updated; it is also possible to record the samples B1(max), B2(max), B1(min), and B2(min) periodically or non-periodically while the internal rotation device 40 is operating by a program, and determine whether Δ a and Δ B need to be updated. Generally, Δ a and Δ B are stable and do not need to be updated frequently.
When the difference between the detection value of each hall element 12 and the error value is obtained as the correction value, the method comprises the following steps: determining a correction value B1', B1 ═ B1- Δ a of the first hall element 12, where B1 is the detection value of the first hall element 12; the correction value B2', B2' ═ B2- Δ B for the second hall element 12 is determined, where B2 is the detection value of the second hall element 12.
Since Δ a, Δ B are known fixed values, the measured B1, B2 values can be corrected to: b1 ═ B1- Δ a, B2 ═ B2- Δ B. And the readings of the two Hall elements B1 'and B2' are corrected.
The detection method comprises a first method, wherein when the step of judging whether the material cup assembly 20 is placed in place according to the corrected value is carried out, the method comprises the following steps: determining the amplitude R of the magnetic induction intensity according to the correction value; and judging whether the material cup assembly 20 is placed in position or not according to the amplitude R.
The amplitude R is calculated by equations (4), (5):
b1 ═ rsin (x) + Δ a formula (4)
B2 ═ Rsin (x +90 °) + Δ B formula (5)
Where x is a phase angle of any one of the hall elements 12 with respect to 0 °, and 90 ° is a degree of the phase angle W between the magnetic fluxes collected by the two hall elements 12.
It should be noted that x is a phase angle of any one of the hall elements 12 with respect to 0 °. In the process of solving R, the specific value of x does not need to be solved, and no care needs to be taken. In equations (4) and (5), R can be solved by known conditions, regardless of the specific number of x. The change of X does not theoretically affect the change of R. We compare R. X is an "independent variable".
B1 ═ Rsin (x) + Δ a can be simplified to B1 ═ Rsin (x), and B2 ═ Rsin (x +90 °) + Δ B can be simplified to B2 ═ Rsin (x +90 °), sin (x +90 °) cos (x) can be known from the sine and cosine equation, so B2 ═ Rc ═ Δ aos(x) Namely:
b1' ═ rsin (x) formula (6)
B2 ═ rcos (x) formula (7)
The above formula (6) is obtained by dividing the formula (7) on both sides, and tan (x) ═ B1 '/B2'. Since the ordinary arctan function arctan can only return to an angle of-90 DEG to 90 DEG and cannot calculate an angle of-180 DEG to 180 DEG, there is a problem in directly calculating the X angle using the arctan function. The solution can be performed using the arctan2 function, a variant of the tangent function, and the arctan2 function can be inverted to angles of-180 deg. to 180 deg.. There are various expression methods for the arctan2 function, including arctan2(s, y), arctan2(y, s), arctan2(y/s), etc., where s, y are abscissa and ordinate values of the angle, and here, arctan2(y/s) and arctan2(s, y), and arctan2(y, s) are used as equivalents, except for the difference in expression.
In summary, R can be solved by the following formula.
Thus, the device does not need the operation of the internal rotating device at any time, obtains B1 and B2 by reading data through two Hall elements, and calculates B1 'and B2' according to the preset offset values delta A and delta B. And then calculating R according to the formula, because the change of R is large under the conditions of material cup existence and material cup non-existence, whether a cup exists can be judged according to the calculated R value.
In the step of judging whether the material cup assembly 20 is placed in place according to the amplitude R, if the amplitude R is larger than or equal to a first preset value, the material cup assembly 20 is determined to be placed in place; if the amplitude R is smaller than the first preset value, the material cup assembly 20 is determined not to be placed in position.
The first preset value can be obtained by testing beforehand when the cup assembly 20 is not present on the base body 10, for example by making the device rotate more than one revolution, recording the maximum value B1(max) and the minimum value B1(min) of the first Hall element, and the first preset value is T, so
Therefore, if the amplitude R is greater than or equal to T, the cup assembly 20 is put in place, and if the amplitude R is less than T, the cup assembly 20 is not put in place.
The above method is based on the fact that the phase angle W between the magnetic inductions collected by the two hall elements 12 is ± 90 degrees, and if the phase angle W between the magnetic inductions collected by the two hall elements 12 is not ± 90 degrees, for example, it is C (where C represents the degree of the phase angle W) which is another known angle.
Then method one can be rewritten as
B1 ═ rsin (x) + Δ a formula (9)
B2 ═ Rsin (x + C) + Δ B formula (10)
Namely, it is
B1 ═ rsin (x) formula (11)
B2' ═ Rcos (x + C) ═ R (sin (x) cos (C) + cos (x) sin (C)) formula (12)
Is obtained by combining a formula (11) and a formula (12),
b2'═ B1' cos (c) + rcos (x) sin (c) formula (13)
Namely, it is
From equation (11) can be derived
The formula (15) is divided by the formula (14) to obtain
R can be solved by the following formula,
for method one, the phase angle W is 90 °, which can be more conveniently solved. In addition, because the signals of the hall elements 12 have errors, the signals are generally not completely regular sine waves, and the situation that the readings of the two hall elements 12 are few due to the adoption of the phase 90 degrees does not exist, the calculation can be ensured to be more accurate (if the readings of the two hall elements are small, the two hall elements are easy to be interfered by other factors, and the error of the solution is caused).
It should be noted that the cup can be detected even if the phase angle W is less than 70 degrees or more than 100 degrees, but the accuracy of detection becomes smaller, and the phase angle W is 90 degrees in the best embodiment.
In the first method, although the calculation principle is simple, a trigonometric function is used for calculating R, and certain requirements are imposed on programs and hardware. The second method is proposed in order to not use trigonometric functions.
The detection method comprises a second method, wherein in the second method, when the step of judging whether the material cup assembly 20 is placed in place according to the corrected value is carried out, the method comprises the following steps: comparing the corrected value B1 'with the corrected value B2', taking the maximum value MAX (| B1'|, | B2' |) of the corrected value B1 'and the corrected value B2', comparing the maximum value MAX (| B1'|, | B2' |) with a second preset value, and determining that the material cup assembly 20 is not placed in place if the maximum value MAX (| B1'|, | B2' |) is greater than or equal to the second preset value; if the maximum MAX (| B1'|, | B2' |) is less than the second preset value, it is determined that the material cup assembly 20 is placed in position.
The second preset value can be obtained by testing in advance when the material cup assembly 20 is located on the substrate 10, for example, the device is allowed to rotate the material cup assembly 20 more than one turn, and the MAX (| B1'|, | B2' |) of the two hall elements 12 is recorded as the maximum value in one turn, and the second preset value is H, if the amplitude R is greater than or equal to T, the material cup assembly 20 is located in place, and if the amplitude R is smaller than T, the material cup assembly 20 is not located in place.
The second predetermined value may be obtained by a prior test, for example, by making the device tape cup assembly 20 rotate more than one revolution, and recording the maximum value of MAX (| B1'|, | B2' |) in one revolution. The second preset value is taken as the value plus a safety value or as the value multiplied by a safety factor, for example by 1.2.
The detection method comprises a third method, wherein in the third method, when the step of judging whether the material cup assembly 20 is placed in place according to the correction value is carried out, the third method comprises the following steps of comparing the correction value B1 'with the correction value B2', taking the maximum value MAX (| B1'|, | B2' |) of the correction value B1 'and the correction value B2', comparing with a second preset value, summing the absolute values of the correction value B1 'and the correction value B2' to obtain | B1'| + | B2' |, comparing with the second preset value, and if the maximum value MAX (| B1'|, | B2' |) is larger than or equal to the second preset value, determining that the material cup assembly 20 is not placed in place; if the maximum MAX (| B1'|, | B2' |) is less than the second preset value and | B1'| + | B2' | is greater than or equal to the third preset value, it is determined that the cup assembly 20 is not placed in place; if the maximum MAX (| B1'|, | B2' |) is less than the second preset value and/or | B1'| + | B2' | is less than the third preset value, it is determined that the cup assembly 20 is placed in position.
The third predetermined value can be obtained by a prior test, for example, making the device belt cup assembly 20 rotate more than one turn, recording | B1'| + | B2' |, and taking the maximum value in one turn. The third preset value is taken as the value plus a safety value or as the value multiplied by a safety factor, for example by 1.2.
In the second method, the MAX (| B1'|, | B2' |) is compared with the second preset value, when the MAX (| B1'|, | B2' |) is larger, it is determined that there is no cup, and a cup is not erroneously determined to be no cup, but a part of the cup is erroneously determined to be a cup in the case of no cup, so that an error exists in the second method.
In order to reduce the error in the second method, generally, using the third method, if the maximum value MAX (| B1'|, | B2' |) is greater than or equal to the second preset value, it is determined that the material cup assembly 20 is not placed in place; if the maximum MAX (| B1'|, | B2' |) is less than the second preset value and | B1'| + | B2' | is greater than or equal to the third preset value, it is determined that the cup assembly 20 is not placed in place; if the maximum MAX (| B1'|, | B2' |) is less than the second preset value and/or | B1'| + | B2' | is less than the third preset value, it is determined that the cup assembly 20 is placed in position. Therefore, the cup can not be judged by mistake in the case of no cup.
As shown in fig. 9 and 10, if MAX (| B1'|, | B2' |) is smaller, | B1'| + | B2' | is larger. This is due to the fact that the two hall element samples are 90 ° out of phase, and there are roughly three situations: l B1'| is larger and l B2' | is smaller; l B1'| is smaller and l B2' | is larger; | B1'| and | B2' | are comparable. The first two cases we compare MAX (| B1'|, | B2' |), the latter case we compare | B1'| + | B2' |. Meanwhile, MAX (| B1'|, | B2' |) and | B1'| + | B2' | are compared, and whether a cup exists or not can be judged.
Using method three, as described above, the phase angle is ± 90 °, | B1'|, | B2' | one of the values is smaller and the other value is larger, or both values are similar.
As shown in fig. 11, when the phase angle W is 90 °, the distribution of the sum of the maximum absolute values and the absolute values of sin (X) and sin (X +90 °) (in fig. 11, the dotted line is | sin (X) | + | sin (X +90 °) |, the solid line is MAX (| sin (X) |, | sin (X +90 °) |), and the abscissa is X), it can be seen that the sum of the maximum absolute values and the absolute values is periodically distributed according to X, and the peaks and the troughs are exactly opposite to each other, so that the sum of the maximum absolute values and the absolute values is used to determine whether there is a cup, which is just complementary, and the peak heights of the maximum absolute values and the absolute values are both consistent.
If the phase angle W is not 90 °, for example, the phase angle W is 80 °, as shown in fig. 12, fig. 12 is a distribution of the sum of the maximum absolute value and the absolute value of sin (X +80 °) in sin (X) and sin (X +80 °) | (the dotted line in fig. 11 is | sin (X) | + | sin (X +80 °) |, the solid line is MAX (| sin (X) |, | sin (X +80 °) |), and the abscissa is X), and the peak heights of the sum of the absolute values are not uniform when viewed from the figure. Therefore, the third using method is used for solving, and whether a cup exists or not is judged, so that the precision is poor.
As shown in fig. 13, the phase angle W is 70 °, and fig. 13 shows the distribution of the sum of the maximum absolute values and the absolute values of sin (X) and sin (X +70 °) (in fig. 11, the dotted line is | sin (X) | + | sin (X +70 °) |, the solid line is MAX (| sin (X) |, | sin (X +70 °) |), and the abscissa is X), and the peaks of the sum of absolute values are higher and lower, and are more inconsistent in the view of the figure. And the third using method is used for solving, and the accuracy is worse when the cup is judged to exist.
It should be noted that, because the image is a sinusoidal image, the phase angles 70 degrees and 110 degrees exhibit the same effect, and the phase angles 80 degrees and 100 degrees exhibit the same effect, only the 70 and 80 degrees effects are illustrated in the drawings.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The detection method of the material cup of the kitchen device is characterized in that the kitchen device comprises a base body (10) and a material cup assembly (20), wherein the base body (10) is provided with a first magnetic coupling device (11) and two Hall elements (12) positioned on the outer side of the first magnetic coupling device (11), the material cup assembly (20) is provided with a second magnetic coupling device (21), two connecting lines are formed from the two Hall elements (12) to the central point of the first magnetic coupling device (11), and an included angle Q is formed between the two connecting lines;
the detection method comprises the following steps:
determining an error value for each of the hall elements (12);
the detection value of each Hall element (12) is subtracted from the error value to obtain a correction value;
judging whether the material cup assembly (20) is placed in place or not according to the correction value;
the following steps are used for determining the error value of each Hall element (12):
determining an error value Δ a for a first of the hall elements (12), which error value Δ a is calculated by equation (2):
when the first magnetic coupling device (11) rotates one or more times, the maximum detection value detected by the first Hall element (12) is B1(max), and the minimum detection value detected by the first Hall element (12) is B1 (min);
determining an error value Δ B for a second of the hall elements (12), which error value Δ B is calculated by equation (3):
when the first magnetic coupling device (11) rotates one or more times, the maximum detection value detected by the second Hall element (12) is B2(max), and the minimum detection value detected by the second Hall element (12) is B2 (min).
2. The detection method according to claim 1, wherein a phase angle W between the magnetic induction collected by the two hall elements (12) corresponding to the included angle Q is greater than or equal to 70 degrees and less than or equal to 100 degrees.
3. The detection method according to claim 1, wherein the included angle Q is calculated by formula (1):
wherein P is the number of magnetic poles of the first magnetic coupling means (11), N is an integer starting from 0, and the angle Q is equal to or less than 180 degrees.
4. The detection method according to claim 1, wherein the step of subtracting the detection value of each hall element (12) from the error value to obtain a correction value comprises:
determining a correction value B1' and B1 ═ B1- Δ A of the first Hall element (12), wherein B1 is a detection value of the first Hall element (12);
and determining a correction value B2' and B2 ═ B2- Δ B of the second Hall element (12), wherein B2 is the detection value of the second Hall element (12).
5. The inspection method according to claim 4, characterized in that the inspection method comprises a first method, and in the first method, when the step of judging whether the material cup assembly (20) is put in place according to the corrected value is carried out, the method comprises the following steps:
determining the amplitude R of the magnetic induction intensity according to the correction value;
and judging whether the material cup assembly (20) is placed in place or not according to the amplitude R.
6. The detection method according to claim 5, wherein the amplitude R is calculated by the following equations (4) and (5):
b1 ═ R sin (x) + Δ a formula (4)
B2 ═ R sin (x +90 °) + Δ B formula (5)
Wherein x is a phase angle of any one of the Hall elements (12) relative to 0 deg.
7. The inspection method according to claim 6, wherein, in the step of determining whether the cup assembly (20) is in place based on the amplitude R,
if the amplitude R is larger than or equal to a first preset value, determining that the material cup assembly (20) is placed in place;
if the amplitude R is smaller than the first preset value, the material cup assembly (20) is determined not to be placed in position.
8. The inspection method according to claim 4, wherein the inspection method comprises a second method, and in the second method, when the step of judging whether the cup assembly (20) is put in place according to the correction value is performed, the inspection method comprises the following steps: the correction value B1 'and the correction value B2' are compared, and the maximum value MAX (| B1'|, | B2' |) of the two is taken and compared with a second preset value,
if the maximum value MAX (| B1'|, | B2' |) is larger than or equal to the second preset value, determining that the material cup assembly (20) is not placed in place;
and if the maximum value MAX (| B1'|, | B2' |) is smaller than the second preset value, determining that the material cup assembly (20) is placed in place.
9. The inspection method according to claim 4, characterized in that the inspection method comprises a third method, in which, when the step of judging whether the cup assembly (20) is placed in place according to the correction value is performed, the method comprises the following steps of comparing the correction value B1 'with the correction value B2', taking the maximum value MAX (| B1'|, | B2' |) of the two, comparing with a second preset value, summing the absolute values of the correction value B1 'and the correction value B2' to obtain | B1'| + | B2' |, and comparing with a third preset value,
if the maximum value MAX (| B1'|, | B2' |) is larger than or equal to the second preset value, determining that the material cup assembly (20) is not placed in place;
if the maximum value MAX (| B1'|, | B2' |) is smaller than the second preset value and | B1'| + | B2' | is larger than or equal to the third preset value, determining that the material cup assembly (20) is not placed in place;
and if the maximum value MAX (| B1'|, | B2' |) is smaller than the second preset value and/or | B1'| + | B2' | is smaller than the third preset value, determining that the material cup assembly (20) is placed in place.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0548490A1 (en) * | 1991-10-22 | 1993-06-30 | Heidolph-Elektro GmbH & Co. KG | Electronic rotation speed control for laboratory apparatus, especially magnetic stirrer |
| JP2003001085A (en) * | 2001-06-25 | 2003-01-07 | Shinichi Akiyama | Magnetically rotating stirring apparatus |
| CN204116621U (en) * | 2014-08-14 | 2015-01-21 | 中山市美斯特实业有限公司 | For the mechanism for monitoring whether container cup of monitoring agitator for food-making is correctly installed |
| CN106054090A (en) * | 2016-05-25 | 2016-10-26 | 北京先驱威锋技术开发公司 | Stirring bar detection system and detection method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI623351B (en) * | 2016-11-21 | 2018-05-11 | 牟敦剛 | Magnetic coupled assembly and magnetic coupled stirrer device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0548490A1 (en) * | 1991-10-22 | 1993-06-30 | Heidolph-Elektro GmbH & Co. KG | Electronic rotation speed control for laboratory apparatus, especially magnetic stirrer |
| JP2003001085A (en) * | 2001-06-25 | 2003-01-07 | Shinichi Akiyama | Magnetically rotating stirring apparatus |
| CN204116621U (en) * | 2014-08-14 | 2015-01-21 | 中山市美斯特实业有限公司 | For the mechanism for monitoring whether container cup of monitoring agitator for food-making is correctly installed |
| CN106054090A (en) * | 2016-05-25 | 2016-10-26 | 北京先驱威锋技术开发公司 | Stirring bar detection system and detection method thereof |
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