CN109974574A - The swing angle detection method and cooking machine of mixing arm in a kind of cooking machine - Google Patents
The swing angle detection method and cooking machine of mixing arm in a kind of cooking machine Download PDFInfo
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- CN109974574A CN109974574A CN201811188432.4A CN201811188432A CN109974574A CN 109974574 A CN109974574 A CN 109974574A CN 201811188432 A CN201811188432 A CN 201811188432A CN 109974574 A CN109974574 A CN 109974574A
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- mixing arm
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- hall sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The embodiment of the invention discloses a kind of swing angle detection method of mixing arm in cooking machine and cooking machine, which includes pot body, motor, motor agitating shaft and mixing arm, and motor is stirred the intracorporal food materials of pot for driving stirring arm swing；Motor is connected with motor agitating shaft, and motor agitating shaft is connected with mixing arm；Hall sensor inside motor is provided on motor, this method comprises: signal produced by Hall sensor inside detection motor；The turnning circle of the motor is calculated according to second number of first number of Hall sensor inside set motor and the signal detected；The rotational angle with motor agitating shaft is calculated according to turnning circle and preset calculating formula, and swing angle of the motor agitating shaft relative to reference line is calculated according to rotational angle.By the example scheme, the swing angle for capableing of real-time detection mixing arm is realized, the real intelligentized control method for realizing cooking machine and accurately control.
Description
Technical field
The present embodiments relate to cooking equipment design and control technology, the angle of oscillation of mixing arm in espespecially a kind of cooking machine
Spend detection method and cooking machine.
Background technique
In the cooking machine course of work, motor drives mixing arm rotation, may be implemented forward and reverse to stir-fry to food materials
Effect.It can be realized by two ways in existing design:
The shortcomings that linkage realization: relying on gear combination lever, and motor rotates in one direction, such scheme is the angle of rotation
Degree be it is uncontrollable, the speed of rotation is also unadjustable.
Intelligent control method is realized: motor is also intelligently to rotate to a direction, drives mixing arm 360 degree rotation.This
Kind of mode mixing effect is poor, intelligently pushes food and rotates in one direction, cannot allow the multi-direction movement of food, thus make food by
It is hot uneven, the dish that can be done be also it is limited, the food for needing to overturn cannot all be cooked, for example decoct poached egg, beefsteak etc.；And
And the speed of rotation cannot also be adjusted, and the effect for simulating artificial cooking is not achieved.
In addition, any one above-mentioned control mode cannot accurately detect the swing angle of mixing arm, with cooking
Also there is a big difference for the real intelligentized control method of machine and accurate control.
Summary of the invention
The embodiment of the invention provides a kind of swing angle detection method of mixing arm in cooking machine and cooking machine, Neng Goushi
When detect the swing angle of mixing arm, realize cooking machine real intelligentized control method and accurate control.
In order to reach purpose of the embodiment of the present invention, the embodiment of the invention provides a kind of angles of oscillation of mixing arm in cooking machine
Detection method is spent, the cooking machine includes pot body, motor, motor agitating shaft and mixing arm, and the motor is for driving described stir
Arm swing is mixed, the intracorporal food materials of the pot are stirred；The motor is connected with the motor agitating shaft, the motor stirring
Axis is connected with the mixing arm；It is characterized in that, be provided with Hall sensor inside motor on the motor, the method can be with
Include:
Detect signal produced by Hall sensor inside the motor；
According to first number of Hall sensor and second number of the signal detected inside the set motor
Calculate the turnning circle of the motor；
The rotational angle with the motor agitating shaft is calculated according to the turnning circle and preset calculating formula, and according to described turn
Swing angle of the motor agitating shaft relative to reference line described in dynamic angle calculation.
Optionally, it first number of Hall sensor and is detected described inside the motor according to set by
It may include: to obtain second number divided by first number that second number of signal, which calculates the turnning circle of the motor,
Turnning circle of the quotient obtained as the motor.
Optionally, the preset calculating formula may include: M=(b/a) × 360 °；Wherein, M is the motor agitating shaft
Rotational angle, a be the motor and the motor agitating shaft rotating ratio, b be the motor turnning circle.
Optionally, first number may include: 3-6.
Optionally, the motor may include rotation axis；The rotation axis is connected with the motor agitating shaft, for driving
The motor agitating shaft rotation；
First number is 4；Hall sensor includes: Hall sensor, second inside first motor inside the motor
Hall sensor inside Hall sensor, third motor inside Hall sensor and the 4th motor inside motor；
Wherein, Hall sensor inside the first motor, Hall sensor inside second motor, in the third motor
Hall sensor is all set in the rotation axis inside portion's Hall sensor and the 4th motor, and in the rotation axis
It is uniformly distributed in same sagittal plane.
Optionally, the rotational angle when mixing arm is rotated with motor is identical as the rotational angle of the agitating shaft, institute
The method of stating can also include: the angle of oscillation that the mixing arm is determined according to the rotational angle and the reference line of the mixing arm
Degree；Wherein, the swing angle refers to the angle between the mixing arm and the preset reference line.
Optionally, the reference line is the line between the fixing end of the mixing arm and preset stirring middle position；
The stirring middle position is located at the bottom center of the pot body, and the fixing end of the mixing arm is located at the bottom of the pot body
Above central location.
Optionally, the angle of oscillation that the mixing arm is determined according to the rotational angle and the reference line of the mixing arm
Degree may include:
Calculate the rotation that the mixing arm is initially rotated to mixing arm described in current time from preset first stirring initial position
The summation of angle；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm
The rotational angle of the mixing arm is negative when rotating counterclockwise；First stirring initial position is located at the opening edge of the pot body
Edge institute is planar；
The difference obtained after the summation of the rotational angle is subtracted 90 ° is as the swing angle of the mixing arm.
Optionally, the angle of oscillation that the mixing arm is determined according to the rotational angle and the reference line of the mixing arm
Degree may include:
In the mixing arm every time by starting to calculate the rotational angle of the mixing arm when stirring middle position, and by phase
Swing angle of the summation of the rotational angle of adjacent maximum absolute value middle twice as the mixing arm；
Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm is counterclockwise
The rotational angle of the mixing arm is negative when rotation.
Optionally, the reference line is the company between the fixing end of the mixing arm and preset third stirring initial position
Line；Third stirring initial position is located at the open edge institute of the pot body planar, the fixing end position of the mixing arm
Above the lower center position of the pot body；
The rotational angle and the reference line according to the mixing arm determines that the swing angle of the mixing arm includes:
Calculate the angle of rotation that the mixing arm is initially rotated to mixing arm described in current time from third stirring initial position
The summation of degree；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm is inverse
The rotational angle of the mixing arm is negative when hour hands rotation；
Using the summation of the rotational angle as the swing angle of the mixing arm.
Optionally, the cooking machine further includes hall position detection plate；
Hall sensor is provided in the hall position detection plate；Wherein, the setting position of the Hall sensor and default
Stirring initial position and/or preset stirring middle position it is corresponding；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding hall signal is generated by Hall sensor induction.
Optionally, the Hall sensor can be 3；The Hall sensor includes: the first Hall sensor,
Two Hall sensors and third Hall sensor；
First Hall sensor, the second Hall sensor and third hall sensing are provided in the hall position detection plate
Device；Wherein, the setting position of first Hall sensor is corresponding with preset stirring initial position, and second Hall passes
The setting position of sensor is corresponding with preset stirring end position, the setting position of the third Hall sensor with it is preset
It is corresponding to stir middle position；The preset stirring middle position is the lower center position of the pot body；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding Hall is generated by the induction of first Hall sensor, second Hall sensor and the third Hall sensor
Signal.
Optionally, the Hall sensor can be 1；The Hall sensor includes: the 4th Hall sensor；
The 4th Hall sensor is provided in the hall position detection plate；Wherein, the 4th Hall sensor is set
Seated position is corresponding with preset stirring middle position；The preset stirring middle position is the bottom center position of the pot body
It sets；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding hall signal is generated by the 4th Hall sensor induction.
The embodiment of the invention provides a kind of cooking machine, the cooking machine may include pot body, motor, mixing arm and Hall
Position detection plate；The motor is stirred the intracorporal food materials of the pot for driving the stirring arm swing；The Hall
Hall sensor is provided on position detection plate；Magnet is provided on the mixing arm；It is provided with inside motor on the motor
Hall sensor；The cooking machine can also include processor and computer readable storage medium, the computer-readable storage
It is stored with instruction in medium, when described instruction is executed by the processor, realizes the swing of mixing arm in above-mentioned cooking machine
Angle detecting method.
The beneficial effect of the embodiment of the present invention may include:
1, the cooking machine of the embodiment of the present invention may include pot body, motor, motor agitating shaft and mixing arm, and the motor is used
In driving the stirring arm swing, the intracorporal food materials of the pot are stirred；The motor is connected with the motor agitating shaft,
The motor agitating shaft is connected with the mixing arm；It is characterized in that, Hall sensor inside motor is provided on the motor,
The swing angle detection method of mixing arm may include: produced by the detection motor inside Hall sensor in the cooking machine
Signal；According to first number of Hall sensor and second number of the signal detected inside the set motor
Calculate the turnning circle of the motor；Turn with the motor agitating shaft is calculated according to the turnning circle and preset calculating formula
Dynamic angle, and swing angle of the motor agitating shaft relative to reference line is calculated according to the rotational angle.Pass through the implementation
Example scheme, realizes the swing angle for capableing of real-time detection mixing arm, realizes the real intelligentized control method of cooking machine and accurate
Control.In addition, detecting the turnning circle of motor, by Hall sensor inside motor so as to pass through the positive and negative rotation control of motor
System to adjust the swing angle of mixing arm in real time, improves cooking effect and has expanded cooking range.
2, the embodiment of the present invention according to first number of Hall sensor inside the set motor and detect
Second of signal number to calculate the turnning circles of the motors may include: by second number divided by described first
Turnning circle of the quotient that number obtains as the motor.The preset calculating formula may include: M=(b/a) × 360 °；Its
In, M is the rotational angle of the motor agitating shaft, and a is the rotating ratio of the motor and the motor agitating shaft, and b is the electricity
The turnning circle of machine.The example scheme principle is simple, is easily achieved, and computational accuracy is high.
3, the angle of rotation of rotational angle and the agitating shaft when mixing arm of the embodiment of the present invention is rotated with motor
Spend identical, the method can also include: to determine the mixing arm according to the rotational angle and the reference line of the mixing arm
Swing angle；Wherein, the swing angle refers to the angle between the mixing arm and the preset reference line.The implementation
Example solution principle is simple, should be readily appreciated that and realizes, and computational accuracy is high.
4, the reference line of the embodiment of the present invention be the mixing arm fixing end and preset stirring middle position it
Between line；The stirring middle position is located at the bottom center of the pot body, and the fixing end of the mixing arm is located at described
Above the lower center position of pot body.It is described that the mixing arm is determined according to the rotational angle and the reference line of the mixing arm
Swing angle may include: to calculate the mixing arm to be initially rotated to current time institute from preset first stirring initial position
State the summation of the rotational angle of mixing arm；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is
Just, when the mixing arm rotates counterclockwise, the rotational angle of the mixing arm is negative；First stirring initial position is located at
The open edge institute of the pot body is planar；The difference obtained after the summation of the rotational angle is subtracted 90 ° is as described in
The swing angle of mixing arm.By the example scheme, the angle of oscillation of the corresponding mixing arm in current location can be accurately calculated
Degree, in order to which the angle adjustment of mixing arm provides technical foundation.
5, the described of the embodiment of the present invention determines the stirring according to the rotational angle and the reference line of the mixing arm
The swing angle of arm may include: in the mixing arm every time by starting to calculate the mixing arm when stirring middle position
Rotational angle, and using it is adjacent twice in maximum absolute value the rotational angle summation as the angle of oscillation of the mixing arm
Degree；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm turns counterclockwise
The rotational angle of the mixing arm is negative when dynamic.The example scheme provides the calculation method of another swing angle, is convenient for
Research and development people with select suitable calculation method according to the calculation amount of different application scenarios and cooking machine control device, and this
Scheme is simpler, and calculation amount is smaller.
The other feature and advantage of the embodiment of the present invention will illustrate in the following description, also, partly from explanation
It is become apparent in book, or understand through the implementation of the invention.The purpose of the embodiment of the present invention and other advantages can pass through
Specifically noted structure is achieved and obtained in the specification, claims and drawings.
Detailed description of the invention
Attached drawing is used to provide one for further understanding technical solution of the embodiment of the present invention, and constituting specification
Point, it is used to explain the present invention the technical solution of embodiment together with embodiments herein, does not constitute to the embodiment of the present invention
The limitation of technical solution.
Fig. 1 is the swing angle detection method flow chart of mixing arm in the cooking machine of the embodiment of the present invention；
Fig. 2 is that the reference line of the embodiment of the present invention is locally tied based on preset stirring middle position come a kind of cooking machine when defining
Structure schematic diagram；
Fig. 3 be the embodiment of the present invention reference line based on preset stirring middle position come when defining, according to the rotation of mixing arm
Angle and reference line determine a kind of embodiment flow chart of the swing angle of mixing arm；
Fig. 4 be the embodiment of the present invention reference line based on preset stirring middle position come when defining, according to the rotation of mixing arm
Angle and reference line determine the another embodiment flow chart of the swing angle of mixing arm；
Fig. 5 is that the reference line of the embodiment of the present invention is local come another cooking machine when defining based on preset stirring middle position
Structural schematic diagram；
Fig. 6 is that the reference line of the embodiment of the present invention is locally tied based on preset stirring initial position come a kind of cooking machine when defining
Structure schematic diagram；
Fig. 7 be the embodiment of the present invention reference line based on preset stirring initial position come when defining, according to the rotation of mixing arm
Angle and reference line determine a kind of embodiment flow chart of the swing angle of mixing arm；
Fig. 8 is the cooking machine structure composition block diagram of the embodiment of the present invention.
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing pair
The embodiment of the present invention is described in detail.It should be noted that in the absence of conflict, embodiment and reality in the application
The feature applied in example can mutual any combination.
Step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
Embodiment one
The swing angle detection method of mixing arm in a kind of cooking machine, the cooking machine include pot body, motor, motor agitating shaft and
Mixing arm, the motor are stirred the intracorporal food materials of the pot for driving the stirring arm swing；The motor and institute
It states motor agitating shaft to be connected, the motor agitating shaft is connected with the mixing arm；It is characterized in that, being provided with electricity on the motor
Hall sensor inside machine, as shown in Figure 1, the method may include S101-S103:
Signal produced by Hall sensor inside S101, the detection motor.
S102, according to first number of Hall sensor inside the set motor and the signal detected
Second number calculates the turnning circle of the motor.
In embodiments of the present invention, the number of set motor inside Hall sensor, i.e., first number can basis
(requirement of such as detection accuracy, detection accuracy requirement is higher, can be more with quantity, detection accuracy for different application scenarios or demand
It is required that it is lower, can be fewer with quantity) self-defining, with no restrictions for its specific value.
In embodiments of the present invention, first number may include: 3-6.
In embodiments of the present invention, the motor may include rotation axis；The rotation axis and the motor agitating shaft phase
Even, for driving the motor agitating shaft to rotate；
First number can be for 4；Inside the motor Hall sensor include: Hall sensor inside first motor,
Hall sensor inside Hall sensor, third motor inside Hall sensor and the 4th motor inside second motor；
Wherein, Hall sensor inside the first motor, Hall sensor inside second motor, in the third motor
Hall sensor can be all set in the rotation axis inside portion's Hall sensor and the 4th motor, and in the rotation
It is uniformly distributed in the same sagittal plane of axis.
Optionally, it first number of Hall sensor and is detected described inside the motor according to set by
It may include: to obtain second number divided by first number that second number of signal, which calculates the turnning circle of the motor,
Turnning circle of the quotient obtained as the motor.
S103, the rotational angle with the motor agitating shaft is calculated according to the turnning circle and preset calculating formula, and
Swing angle of the motor agitating shaft relative to reference line is calculated according to the rotational angle.
Optionally, the preset calculating formula may include: M=(b/a) × 360 °；Wherein, M is the motor agitating shaft
Rotational angle, a be the motor and the motor agitating shaft rotating ratio, b be the motor turnning circle.
In embodiments of the present invention, in motor rotation process, Hall sensor real-time detection inside motor can be passed through
The turnning circle b of motor, and the rotating ratio a of the motor is found according to the parameter of electric machine, so as to be counted according to M=(b/a) × 360 °
The rotational angle for calculating rotation axis, since mixing arm is fixed on the rotating shaft, the rotational angle M of rotation axis is stirring
Rotational angle when arm is rotated with motor.
Optionally, the rotational angle when mixing arm is rotated with motor is identical as the rotational angle of the agitating shaft, institute
The method of stating can also include: the angle of oscillation that the mixing arm is determined according to the rotational angle and the reference line of the mixing arm
Degree；Wherein, the swing angle refers to the angle between the mixing arm and the preset reference line.
It in embodiments of the present invention, is a root due to the implementation angle that rotational angle is when mixing arm is rotated with motor
The angle quantified according to the rotation of motor, for user or research staff, the rotational angle is not intuitive enough, and cannot
Angle change of the mixing arm relative to current frying pan is directly determined, therefore, in order to more intuitively react mixing arm stirred
Specific location variation in journey relative to frying pan (more specifically, such as pot body), can define a reference line on frying pan,
To determining the swing angle of mixing arm according to the rotational angle of mixing arm and the reference line, and characterized with the swing angle
Change in location of the mixing arm relative to pot body.
In embodiments of the present invention, the determination of the reference line can be according to different application scenarios and demand (such as calculation amount
The difference of size) carry out self-defining, with no restrictions for its specific location.Two kinds of specific implementations of reference line are shown below
Example:
One, reference line is defined based on preset stirring middle position
Optionally, as shown in Fig. 2, the reference line can for the mixing arm fixing end and preset stirring middle position it
Between line；The stirring middle position is located at the bottom center of the pot body, and the fixing end of the mixing arm is located at described
Above the lower center position of pot body.
Optionally, as shown in figure 3, described determine the stirring according to the rotational angle and the reference line of the mixing arm
The swing angle of arm may include S201-S202:
S201, the calculating mixing arm are initially rotated to mixing arm described in current time from preset first stirring initial position
The summation of rotational angle；Wherein, when the mixing arm rotates clockwise and (forward stir) rotational angle of Shi Suoshu mixing arm
It is positive, when the rotational angle that the mixing arm rotates counterclockwise (i.e. reverse stirring) Shi Suoshu mixing arm is negative；Described first stirs
It mixes initial position and is located at the open edge institute of the pot body planar；
S202, the difference obtained after the summation of the rotational angle is subtracted 90 ° are as the swing angle of the mixing arm.
Optionally, the cooking machine further includes hall position detection plate；
Hall sensor is provided in the hall position detection plate；Wherein, the setting position of the Hall sensor and default
Stirring initial position and/or preset stirring middle position it is corresponding；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding hall signal is generated by Hall sensor induction.
In embodiments of the present invention, in order to be positioned or be limited to mixing arm, one or more can be preset suddenly
That sensor, the setting quantity of the Hall sensor and position can determine according to specific needs, be not particularly limited again.
For example, when only it needs to be determined that can only be arranged one in preset stirring central position when the stirring central location of mixing arm 1
Hall sensor；When it needs to be determined that the stirring initial position of mixing arm 1 is with stirring final position, it can be stirred preset
Beginning position and stirring final position at a Hall sensor is respectively set, that is, be arranged two Hall sensors；When it needs to be determined that
When the stirring initial position of mixing arm 1, stirring final position and central location, can in preset stirring initial position, stir
A Hall sensor is respectively set in final position and central position, that is, 3 Hall sensors are arranged.
In embodiments of the present invention, in order to realize the example scheme of S201-S202, stirring start bit can be at least set
The Hall sensor of central position is set and stirs, in addition, in order to be limited to mixing arm, it can also be in stirring final position
Place's setting Hall sensor.
In embodiments of the present invention, it can be illustrated for three Hall sensors are set, to provide three Halls
The specific setting position embodiment of sensor.
Optionally, as shown in Fig. 2, the Hall sensor can be 3；The Hall sensor may include: first
Hall sensor A, the second Hall sensor B and third Hall sensor C；
The first Hall sensor A, the second Hall sensor B and third can be set in the hall position detection plate suddenly
You are sensor C；Wherein, the setting position of the first Hall sensor A and preset stirring initial position (i.e. position 1) are opposite
It answers, the setting position of the second Hall sensor B is corresponding with preset stirring end position (i.e. position 2), the third
The setting position of Hall sensor C is corresponding with preset stirring middle position (i.e. position 3)；The preset stirring interposition
It is set to the lower center position of the pot body；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding Hall is generated by the induction of first Hall sensor, second Hall sensor and the third Hall sensor
Signal.
In embodiments of the present invention, mixing arm can from preset first stirring initial position (position 1 in such as Fig. 2 or
At position 2) start to swing and start to calculate the rotational angle of mixing arm, herein can for being swung from position 1 into
Row explanation.
In embodiments of the present invention, mixing arm starts to swing (in 1 He of position using at the position 1 of pot edge as initial position
Reciprocally swinging between position 2), by setting external hall sensor (the first Hall sensor A and the second Hall sensor B) into
The positioning of row motor reversal, in the first Hall sensor A every time or the second Hall sensor B identification magnet, then motor starts instead
Turn.And it is driven in mixing arm rotation process in motor, mixing arm can be calculated in real time relative to the reference line (fixation of mixing arm
End and it is preset stirring middle position between line) swing angle, that is, calculate the unilateral angle of oscillation relative to reference line
Degree.
In embodiments of the present invention, for the first Hall sensor A and the second Hall sensor B hall signal generated
Time interval can be defined, if detecting the same external hall sensor, such as the first Hall sensor A or second is suddenly
The time interval for the hall signal that your sensor B is generated is less than or equal to the time interval of setting, and it is nonreversible to can control motor.
Optionally, as shown in figure 4, described determine the stirring according to the rotational angle and the reference line of the mixing arm
The swing angle of arm can also include S301:
S301, start to stir as described in calculating when the mixing arm passes through stirring middle position (such as the position 3 in Fig. 5) every time
The rotational angle of arm is mixed, and using the summation of the rotational angle of adjacent maximum absolute value middle twice as the pendulum of the mixing arm
Dynamic angle；
Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm is counterclockwise
The rotational angle of the mixing arm is negative when rotation.
In embodiments of the present invention, in order to realize the example scheme of S301, stirring central position can be at least set
Hall sensor can also be set in stirring final position and stirring original position in addition, in order to be limited to mixing arm
Set Hall sensor.
In embodiments of the present invention, when three Hall sensors are arranged, specific implementation situation can be identical in above content,
This is no longer going to repeat them.Above-mentioned step S301 only is illustrated for a Hall sensor is set herein.The implementation
The negligible amounts for the Hall sensor that example uses, to reduce production cost.
In embodiments of the present invention, as shown in figure 5, the Hall sensor can be 1；The Hall sensor packet
It includes: the 4th Hall sensor D；
The 4th Hall sensor D is provided in the hall position detection plate；Wherein, the 4th Hall sensor D
It is corresponding with preset stirring middle position that position is set；The preset stirring middle position is the bottom center of the pot body
Position；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding hall signal is generated by the 4th Hall sensor D induction.
In embodiments of the present invention, mixing arm can swing (1 He of position shown in Fig. 5 using the bottom of a pan as benchmark line
Reciprocally swinging between position 2), position correction is carried out by the 4th Hall sensor D of setting, each mixing arm is by Fig. 5
When position 3, the 4th Hall sensor D can produce hall signal, at this time can be again to motor inside according to the hall signal
The signal number that Hall sensor generates is counted, and according to the counting conversion mixing arm obtained in real time relative to reference line
The swing angle of (line between the fixing end of mixing arm and preset stirring middle position), and relative to reference line two sides
The sum of bidirectional swinging is used as swing angle.When the swing angle that real-time operation goes out reaches certain angle, it is anti-to can control motor
Turn, if the 4th Hall sensor D is not sensed by magnet in rotation process, mixing arm sustained oscillation in the same direction, directly
To the hall signal for obtaining the 4th Hall sensor D generation, and the signal number that internal Hall sensor is generated again again
It is counted, and is inverted again after reaching set angle, so recycled, until the current cooking stage terminates.
Two, reference line is defined based on preset stirring initial position
Optionally, as shown in fig. 6, the reference line is that the fixing end of the mixing arm and preset third stir initial position
Line between (position 1 in such as Fig. 6)；Third stirring initial position is located at plane where the open edge of the pot body
Interior, the fixing end of the mixing arm is located above the lower center position of the pot body.
In embodiments of the present invention, as shown in fig. 7, it is described true according to the rotational angle of the mixing arm and the reference line
The swing angle of the fixed mixing arm may include S401-S402:
S401, turn that the mixing arm is initially rotated to mixing arm described in current time from third stirring initial position is calculated
The summation of dynamic angle；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the stirring
The rotational angle of the mixing arm is negative when arm rotates counterclockwise；
S402, using the summation of the rotational angle as the swing angle of the mixing arm.
In embodiments of the present invention, in order to realize the example scheme of S401-S402, stirring start bit can be at least set
The Hall sensor at place is set, in addition, hall sensing can also be arranged at stirring final position to limit to mixing arm
Device；In order to which the swing angle to mixing arm is calibrated, Hall sensor can also be set in stirring middle position.
In embodiments of the present invention, when three Hall sensors are arranged, specific implementation situation can be identical in above content,
This is no longer going to repeat them.Above-mentioned step S401-S402 only is illustrated for a Hall sensor is set herein.
In embodiments of the present invention, as shown in fig. 6, the Hall sensor can be 1；The Hall sensor packet
It includes: the 5th Hall sensor E；
The 5th Hall sensor E is provided in the hall position detection plate；Wherein, the 5th Hall sensor E
It is corresponding with preset stirring initial position that position is set；The preset stirring initial position is located at the opening edge of the pot body
Edge (pot edge) institute is planar；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding hall signal is generated by the 5th Hall sensor E induction.
In embodiments of the present invention, mixing arm can start to swing by benchmark line of pot edge, such as from position 1 shown in fig. 6
Start to swing, when each mixing arm is by position 1, the 5th Hall sensor E can produce hall signal, at this time according to the Hall
The signal number that signal can again generate motor inside Hall sensor counts, and is changed according to the counting obtained in real time
Calculate swing of the mixing arm relative to reference line (line between the fixing end of mixing arm and preset third stirring initial position)
Angle.When the swing angle that real-time operation goes out reaches certain angle, motor reversal can control, if the 5th in rotation process
Hall sensor E is not sensed by magnet, then mixing arm sustained oscillation in the same direction, until obtaining the 5th Hall sensor E
The hall signal of generation, and the signal number generated again to internal Hall sensor again counts, and is reaching setting
It inverts after angle, so recycles again, until the current cooking stage terminates.
In embodiments of the present invention, by the example scheme, the real-time detection to the swing angle of mixing arm is realized,
To the real intelligentized control method for realizing cooking machine and accurately control.In addition, detecting electricity by Hall sensor inside motor
The turnning circle of machine, so as to be controlled by the positive and negative rotation of motor come the real-time swing angle for adjusting mixing arm, and not only
Angle is adjustable, and revolving speed is also adjustable, improves cooking effect and has expanded cooking range.In addition, the embodiment of the present invention
Used in external hall sensor negligible amounts, saved production cost.
Embodiment two
A kind of cooking machine, as shown in figure 8, the cooking machine may include pot body 1, motor 2, mixing arm 3 and hall position detection
Plate 4；The motor 2 is stirred the food materials in the pot body 1 for driving the mixing arm 3 to swing；The hall position
Hall sensor 5(external hall sensor is provided in detection plate 4)；Magnet 6 is provided on the mixing arm 3；The motor 2
On be provided with Hall sensor 7 inside motor；The cooking machine can also include processor 8 and computer readable storage medium 9,
It is stored with instruction in the computer readable storage medium 9, when described instruction is executed by the processor 8, is realized above-mentioned
The swing angle detection method of mixing arm in cooking machine.
The beneficial effect of the embodiment of the present invention may include:
1, the cooking machine of the embodiment of the present invention may include pot body, motor, motor agitating shaft and mixing arm, and the motor is used
In driving the stirring arm swing, the intracorporal food materials of the pot are stirred；The motor is connected with the motor agitating shaft,
The motor agitating shaft is connected with the mixing arm；It is characterized in that, Hall sensor inside motor is provided on the motor,
The swing angle detection method of mixing arm may include: produced by the detection motor inside Hall sensor in the cooking machine
Signal；According to first number of Hall sensor and second number of the signal detected inside the set motor
Calculate the turnning circle of the motor；Turn with the motor agitating shaft is calculated according to the turnning circle and preset calculating formula
Dynamic angle, and swing angle of the motor agitating shaft relative to reference line is calculated according to the rotational angle.Pass through the implementation
Example scheme, realizes the swing angle for capableing of real-time detection mixing arm, realizes the real intelligentized control method of cooking machine and accurate
Control.In addition, detecting the turnning circle of motor, by Hall sensor inside motor so as to pass through the positive and negative rotation control of motor
System to adjust the swing angle of mixing arm in real time, improves cooking effect and has expanded cooking range.
2, the embodiment of the present invention according to first number of Hall sensor inside the set motor and detect
Second of signal number to calculate the turnning circles of the motors may include: by second number divided by described first
Turnning circle of the quotient that number obtains as the motor.The preset calculating formula may include: M=(b/a) × 360 °；Its
In, M is the rotational angle of the motor agitating shaft, and a is the rotating ratio of the motor and the motor agitating shaft, and b is the electricity
The turnning circle of machine.The example scheme principle is simple, is easily achieved, and computational accuracy is high.
3, the angle of rotation of rotational angle and the agitating shaft when mixing arm of the embodiment of the present invention is rotated with motor
Spend identical, the method can also include: to determine the mixing arm according to the rotational angle and the reference line of the mixing arm
Swing angle；Wherein, the swing angle refers to the angle between the mixing arm and the preset reference line.The implementation
Example solution principle is simple, should be readily appreciated that and realizes, and computational accuracy is high.
4, the reference line of the embodiment of the present invention be the mixing arm fixing end and preset stirring middle position it
Between line；The stirring middle position is located at the bottom center of the pot body, and the fixing end of the mixing arm is located at described
Above the lower center position of pot body.It is described that the mixing arm is determined according to the rotational angle and the reference line of the mixing arm
Swing angle may include: to calculate the mixing arm to be initially rotated to current time institute from preset first stirring initial position
State the summation of the rotational angle of mixing arm；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is
Just, when the mixing arm rotates counterclockwise, the rotational angle of the mixing arm is negative；First stirring initial position is located at
The open edge institute of the pot body is planar；The difference obtained after the summation of the rotational angle is subtracted 90 ° is as described in
The swing angle of mixing arm.By the example scheme, the angle of oscillation of the corresponding mixing arm in current location can be accurately calculated
Degree, in order to which the angle adjustment of mixing arm provides technical foundation.
5, the described of the embodiment of the present invention determines the stirring according to the rotational angle and the reference line of the mixing arm
The swing angle of arm may include: in the mixing arm every time by starting to calculate the mixing arm when stirring middle position
Rotational angle, and using it is adjacent twice in maximum absolute value the rotational angle summation as the angle of oscillation of the mixing arm
Degree；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm turns counterclockwise
The rotational angle of the mixing arm is negative when dynamic.The example scheme provides the calculation method of another swing angle, is convenient for
Research and development people with select suitable calculation method according to the calculation amount of different application scenarios and cooking machine control device, and this
Scheme is simpler, and calculation amount is smaller.
It will appreciated by the skilled person that whole or certain steps, system, dress in method disclosed hereinabove
Functional module/unit in setting may be implemented as software, firmware, hardware and its combination appropriate.In hardware embodiment,
Division between the functional module/unit referred in the above description not necessarily corresponds to the division of physical assemblies；For example, one
Physical assemblies can have multiple functions or a function or step and can be executed by several physical assemblies cooperations.Certain groups
Part or all components may be implemented as by processor, such as the software that digital signal processor or microprocessor execute, or by
It is embodied as hardware, or is implemented as integrated circuit, such as specific integrated circuit.Such software can be distributed in computer-readable
On medium, computer-readable medium may include computer storage medium (or non-transitory medium) and communication media (or temporarily
Property medium).As known to a person of ordinary skill in the art, term computer storage medium is included in for storing information (such as
Computer readable instructions, data structure, program module or other data) any method or technique in the volatibility implemented and non-
Volatibility, removable and nonremovable medium.Computer storage medium include but is not limited to RAM, ROM, EEPROM, flash memory or
Other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic holder, tape, disk storage or its
His magnetic memory apparatus or any other medium that can be used for storing desired information and can be accessed by a computer.
In addition, known to a person of ordinary skill in the art be, communication media generally comprises computer readable instructions, data structure, program
Other data in the modulated data signal of module or such as carrier wave or other transmission mechanisms etc, and may include any letter
Cease delivery media.
Claims (10)
1. the swing angle detection method of mixing arm in a kind of cooking machine, the cooking machine includes pot body, motor, motor agitating shaft
And mixing arm, the motor are stirred the intracorporal food materials of the pot for driving the stirring arm swing；The motor with
The motor agitating shaft is connected, and the motor agitating shaft is connected with the mixing arm；It is characterized in that, being provided on the motor
Hall sensor inside motor, which comprises
Detect signal produced by Hall sensor inside the motor；
According to first number of Hall sensor and second number of the signal detected inside the set motor
Calculate the turnning circle of the motor；
The rotational angle with the motor agitating shaft is calculated according to the turnning circle and preset calculating formula, and according to described turn
Swing angle of the motor agitating shaft relative to reference line described in dynamic angle calculation.
2. the swing angle detection method of mixing arm in cooking machine according to claim 1, which is characterized in that the basis
Described in second number of first number of Hall sensor and the signal detected calculates inside the set motor
The turnning circle of motor includes: divided by the quotient of described first number acquisition using second number as the turning collar of the motor
Number.
3. the swing angle detection method of mixing arm in cooking machine according to claim 1, which is characterized in that described default
Calculating formula include: M=(b/a) × 360 °；Wherein, M is the rotational angle of the motor agitating shaft, and a is the motor and described
The rotating ratio of motor agitating shaft, b are the turnning circle of the motor.
4. the swing angle detection method of mixing arm, feature exist in cooking machine according to claim 1 to 3
In, the rotational angle when mixing arm is rotated with motor is identical as the rotational angle of the agitating shaft, the method also includes:
The swing angle of the mixing arm is determined according to the rotational angle of the mixing arm and the reference line；Wherein, the angle of oscillation
Degree refers to the angle between the mixing arm and the preset reference line.
5. the swing angle detection method of mixing arm in cooking machine according to claim 4, which is characterized in that the benchmark
Line is the line between the fixing end of the mixing arm and preset stirring middle position；The stirring middle position is located at described
At the bottom center of pot body, the fixing end of the mixing arm is located above the lower center position of the pot body.
6. the swing angle detection method of mixing arm in cooking machine according to claim 5, which is characterized in that the basis
The rotational angle of the mixing arm and the reference line determine that the swing angle of the mixing arm includes:
Calculate the rotation that the mixing arm is initially rotated to mixing arm described in current time from preset first stirring initial position
The summation of angle；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm
The rotational angle of the mixing arm is negative when rotating counterclockwise；First stirring initial position is located at the opening edge of the pot body
Edge institute is planar；
The difference obtained after the summation of the rotational angle is subtracted 90 ° is as the swing angle of the mixing arm.
7. the swing angle detection method of mixing arm in cooking machine according to claim 5, which is characterized in that the basis
The rotational angle of the mixing arm and the reference line determine that the swing angle of the mixing arm includes:
In the mixing arm every time by starting to calculate the rotational angle of the mixing arm when stirring middle position, and by phase
Swing angle of the summation of the rotational angle of adjacent maximum absolute value middle twice as the mixing arm；
Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm is counterclockwise
The rotational angle of the mixing arm is negative when rotation.
8. the swing angle detection method of mixing arm in cooking machine according to claim 4, which is characterized in that the benchmark
Line is the line between the fixing end of the mixing arm and preset third stirring initial position；The third stirs initial position
Positioned at the pot body open edge institute planar, the fixing end of the mixing arm is located at the lower center position of the pot body
Top；
The rotational angle and the reference line according to the mixing arm determines that the swing angle of the mixing arm includes:
Calculate the angle of rotation that the mixing arm is initially rotated to mixing arm described in current time from third stirring initial position
The summation of degree；Wherein, when the mixing arm rotates clockwise, the rotational angle of the mixing arm is positive, when the mixing arm is inverse
The rotational angle of the mixing arm is negative when hour hands rotation；
Using the summation of the rotational angle as the swing angle of the mixing arm.
9. the swing angle detection method of mixing arm, feature exist in cooking machine according to claim 1 to 3
In the cooking machine further includes hall position detection plate；
Hall sensor is provided in the hall position detection plate；Wherein, the setting position of the Hall sensor and default
Stirring initial position and/or preset stirring middle position it is corresponding；
The magnet of the on-fixed end position for detecting the mixing arm is provided on the mixing arm, the magnet can
Corresponding hall signal is generated by Hall sensor induction.
10. a kind of cooking machine, which is characterized in that the cooking machine includes pot body, motor, mixing arm and hall position detection plate；
The motor is stirred the intracorporal food materials of the pot for driving the stirring arm swing；The hall position detection plate
On be provided with Hall sensor；Magnet is provided on the mixing arm；Hall sensor inside motor is provided on the motor；
The cooking machine further includes processor and computer readable storage medium, and finger is stored in the computer readable storage medium
It enables, when described instruction is executed by the processor, realizes mixing arm in cooking machine as described in any one of claims 1-9
Swing angle detection method.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113966958A (en) * | 2021-10-29 | 2022-01-25 | 添可智能科技有限公司 | Stirring shovel installation state detection method and intelligent cooking equipment |
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