CN112220358A

CN112220358A - Water adding system and water adding control method and device

Info

Publication number: CN112220358A
Application number: CN202011057388.0A
Authority: CN
Inventors: 洪蒂; 曾巧; 许有望
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-01-15

Abstract

The embodiment of the application provides a water adding system and a water adding control method and device, wherein the water adding control method comprises the following steps: controlling a motor of the water pump to rotate and accelerate to a first speed, wherein a water outlet of the water pump is used for adding water into the container; receiving a water flow detection signal sent by a water flow sensor, wherein the water flow detection signal is generated by the water flow sensor according to the water flow of a water outlet of the water pump; determining the current water yield of the water pump according to the water flow detection signal, and controlling the rotating speed of a motor of the water pump according to the current water yield of the water pump, wherein when the current water yield of the water pump is determined to reach a first set value, the rotating speed of the motor of the water pump is controlled to be reduced from a first speed to a second speed; and when the current water yield of the water pump reaches the target value, controlling a motor of the water pump to stop rotating. The water adding control method can realize more accurate water adding, so that the user experience is improved.

Description

Water adding system and water adding control method and device

Technical Field

The application relates to the technical field of information processing, in particular to a water adding system and a water adding control method and device.

Background

The clay pot rice is also called as tile clay pot rice, is a special food from Guangdong regions, has particularly fragrant taste, is a nationally famous food, and is deeply loved by consumers. However, the taste of the rice is greatly related to the technology, the technology comprises cooking temperature, cooking time, oil adding amount, water adding amount and the like, particularly, the taste and the quality of the rice are seriously influenced by the water adding amount, golden rice crust cannot be formed excessively, and scorching and uncooked cooking can be realized if the taste is too little.

In the prior art, two modes of manual water adding and automatic water adding are generally adopted, wherein the manual water adding mode is greatly influenced by human factors to cause the problems of unstable water adding and poor water adding precision, and is not suitable for large-scale popularization and use; the existing automatic water adding control method mainly controls the water adding amount by setting the water adding time, although the mode is improved compared with the manual water adding method, air can enter a water adding pipeline, and the water adding is unstable. Meanwhile, the full-automatic accurate water adding control is difficult to realize under the scenes of unstable water pressure and the like.

Disclosure of Invention

The application provides a water adding system, a water adding control method and device, electronic equipment and a readable storage medium, which can solve the problem of poor water adding precision caused by unstable water adding water pressure in the water adding process and realize accurate water adding.

In a first aspect, the present application provides a water adding control method, including:

controlling a motor of a water pump to rotate and accelerate to a first speed, wherein a water outlet of the water pump is used for adding water into a container;

receiving a water flow detection signal sent by a water flow sensor, wherein the water flow detection signal is generated by the water flow sensor according to the water flow of a water outlet of the water pump;

determining the current water yield of the water pump according to the water flow detection signal, and controlling the rotating speed of a motor of the water pump according to the current water yield of the water pump, wherein when the current water yield of the water pump is determined to reach a first set value, the rotating speed of the motor of the water pump is controlled to be reduced from a first speed to a second speed; and when the current water yield of the water pump is determined to reach the target value, controlling a motor of the water pump to stop rotating.

With reference to the first aspect, in a possible implementation manner, the water flow sensor is a pulse flow sensor, and the water flow detection signal is a pulse number;

determining the current water yield of the water pump according to the water flow detection signal, and controlling the rotating speed of a water pump motor according to the current water yield of the water pump, wherein the method comprises the following steps:

calculating the current water yield of the water pump according to the pulse number output by the pulse flow sensor and the preset corresponding relation between the pulse number and the water yield of the water pump;

determining a target rotating speed of the water pump motor according to the current water yield of the water pump and a preset corresponding relation between the water yield and the target rotating speed of the water pump motor;

and controlling the rotating speed of the water pump motor to be the target rotating speed.

With reference to the first aspect, in a possible implementation manner, the method further includes:

and controlling the water inlet pressure of the water pump within a preset range.

With reference to the first aspect, in one possible implementation manner, the preset range is 0.2 to 0.3 MPa.

With reference to the first aspect, in a possible implementation manner, the first speed is between 250 and 400n/min, and the second speed is between 80 and 100 n/min.

With reference to the first aspect, in a possible implementation manner, the first set value is between 190 and 195g, and the target value is between 205 and 215 g.

In a second aspect, the present application provides a watering system, the system comprising:

the water pump is used for adding water to the container;

the water flow sensor is arranged at the water outlet of the water pump and used for outputting a water flow detection signal according to the water flow of the water outlet of the water pump; and

the main control unit is respectively electrically connected with the water flow sensor and the water pump and used for loading a program to execute a water adding control step, and the water adding control step comprises the following steps:

controlling a motor of the water pump to rotate and accelerate to a first speed;

receiving a water flow detection signal sent by the water flow sensor;

With reference to the second aspect, in a possible implementation manner, the water flow sensor is a pulse flow sensor, and the water flow detection signal is a pulse number;

With reference to the second aspect, in a possible implementation manner, the system further includes:

and the pressure regulating device is arranged between the water output source and the water inlet of the water pump and is used for controlling the water inlet pressure of the water pump within a preset range.

With reference to the second aspect, in one possible implementation manner, the preset range is 0.2-0.3 MPa.

With reference to the second aspect, in a possible implementation manner, the first speed is between 250 and 400n/min, and the second speed is between 80 and 100 n/min.

With reference to the second aspect, in a possible implementation manner, the first set value is between 190 and 195g, and the target value is between 205 and 215 g.

In a third aspect, the present application provides a watering control apparatus, comprising:

the first control module is used for controlling a motor of the water pump to rotate and accelerate to a first speed, and a water outlet of the water pump is used for adding water into the container;

the first receiving module is used for receiving a water flow detection signal sent by a water flow sensor, and the water flow detection signal is generated by the water flow sensor according to the water flow of a water outlet of the water pump; and

the second control module is used for determining the current water yield of the water pump according to the water flow detection signal and controlling the rotating speed of a motor of the water pump according to the current water yield of the water pump, wherein when the current water yield of the water pump is determined to reach a first set value, the rotating speed of the motor of the water pump is controlled to be reduced from the first speed to a second speed; and when the current water yield of the water pump is determined to reach the target value, controlling a motor of the water pump to stop rotating.

In a fourth aspect, the present application provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores a computer program, and the processor is connected to the memory and executes a water adding control method implemented in the first aspect and any possible implementation manner of the first aspect.

In a fifth aspect, the present application provides a readable storage medium, which includes computer instructions, when the computer instructions are executed on an electronic device, cause the electronic device to execute a water adding control method as in the first aspect and any possible implementation manner of the first aspect.

It can be understood that, in the initial stage of water addition, because the amount of water added is small, under the condition of ensuring that no too large water pressure impact exists, in order to save the water adding time, a larger stable speed is needed for operation (a first speed), when the amount of water added reaches a first set value, the pulse flow sensor can generate error pulse in the impact of the water pressure, the pulse number received by the main control unit is inconsistent with the actual water output pulse number, so the water pump is decelerated to a second speed, and then when the amount of water reaches a target value, the water pump is stopped at the lower speed, namely the second speed, so that the impact force of the water pump on the sensor when the water pump is stopped is reduced, and the accuracy of the pulse flow sensor is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic structural diagram of a water adding system provided by the present application;

FIG. 2 is a block diagram of a water adding system provided in the present application;

FIG. 3 is a block diagram of another embodiment of a water adding system according to the present disclosure;

fig. 4 is a schematic diagram illustrating that a main control unit controls water pressure at a water outlet of a water pump according to the present application;

fig. 5 is a parameter relationship diagram of a main control unit provided in the present application;

fig. 6 is a flow chart of a water adding process of the water adding system for rice cooker provided by the present application;

FIG. 7 is a graph of operating speed of a peristaltic pump versus the amount of water pumped by the peristaltic pump according to the present disclosure;

FIG. 8 is a flow chart of a water adding control method provided by the present application;

fig. 9 is a block diagram of a water filling control device according to the present application.

Detailed Description

For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.

It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. 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.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In order to solve the problems in the prior art, the embodiment of the invention provides a water adding control method and a water adding system, the water outlet of a water pump is stable by accurately controlling the water adding speed of the pot rice, so that full-automatic stable and accurate water adding is realized, the water adding precision is strong, the intelligent degree is high, and the taste and the quality of the pot rice are ensured.

It should be noted that the water adding control method and the water adding system provided in the embodiment of the present invention may be applied not only to the water adding treatment of the clay pot for making the hot-pot rice, but also to the water adding treatment of other types of cooking foods (e.g. fast-heating foods) or other cooking containers made of other materials (e.g. metal materials).

FIG. 1 shows a schematic diagram of a watering system; fig. 2 shows a block diagram of a water feeding system.

With reference to fig. 1 to fig. 3, an embodiment of the present invention provides a water adding system, including: automatic get and cover mechanism (not shown) and mechanism 1 adds water, wherein, mechanism 1 adds water includes: pressure regulating device, water pump 12, rivers sensor 13 and master control unit 14.

Automatic get and cover mechanism: for removing the lid of a receptacle 19 containing rice, such as a crock. As an embodiment, an example of an automatic lid-removing mechanism may be an automatically controlled gripper.

Specifically, after the container 19 (e.g. a tile pot) containing rice is conveyed from an article storage (e.g. a refrigerator) to the clamping jaws through the conveying line, the clamping jaws automatically grab the cover of the container 19 and ascend, and in the ascending process, the water adding outlet automatically moves to the water adding position above the container 19. It should be noted that the water outlet is preferably located against the inner wall of the receptacle 19, which reduces the impact of water on the rice.

Pressure regulating device: is arranged between a water output source (such as a water tap 17 shown in fig. 1, 2 or 3) and a water inlet of the water pump 12, and is used for controlling the water inlet pressure of the water pump 12 within a preset range, and the pressure regulating device can be the water tank 11 shown in fig. 1 and 2, and can also be composed of a pressure sensor 20 and a water pressure regulator 21 shown in fig. 3.

When the pressure regulating device is a water tank 11, specifically, referring to fig. 1 and 2, the water tank 11 includes a water inlet and a water outlet, and in one or more embodiments of the present invention, the water inlet of the water tank is communicated with a water output source through a water pipe 16, the water output source is, for example, a water outlet of a faucet 17, and the water outlet of the water tank 11 is communicated with a water inlet of a water pump 12 through the water pipe 16.

When the pressure regulating device includes the pressure sensor 20 and the water pressure regulator 21, specifically, as shown in fig. 3, the pressure regulating device is disposed between the water output source (for example, the faucet 17 shown in fig. 1) and the water inlet of the water pump 12, and is configured to detect the water pressure at the water inlet of the water pump 12, and generate a water pressure detection signal in real time according to the water pressure at the water inlet of the water pump 12, in an embodiment of the present invention, the pressure sensor 20 is electrically connected to the main control unit 14, and is configured to feed back the water pressure detection signal to the. The type of the pressure sensor 20 may be, but is not limited to, a piezoresistive pressure sensor, a piezoelectric pressure sensor, and the like, which is not limited in the present invention. In the embodiment of the present invention, in order to increase the accuracy of pressure detection, the pressure sensor 20 is a high-precision pressure sensor. The water pressure regulator 21 is arranged between a water output source (for example, the faucet 17 shown in fig. 1) and the water inlet of the water pump 12. in the embodiment of the present invention, the water pressure regulator 21 is embodied as an electric valve, wherein the electric valve is used for analog quantity regulation of the flow of liquid, gas and air system pipeline media, and is generally connected by an electric actuator and a valve, and the electric actuator of the electric valve is generally an electric motor. In the embodiment of the present invention, the water pressure regulator 21 is electrically connected to the main control unit 14, and is used for regulating the opening of the valve under the control of the main control unit 14, so as to regulate the water pressure at the water inlet of the water pump 12.

Of course, the pressure regulating device is not limited to the water tank 11 or the pressure sensor 20 and the water pressure regulator 21, and may be other devices having a pressure regulating function.

It should be understood that in the present application, the water inlet of the water pump 12 is connected to the water outlet of the water tank 11 or a pressure regulating device is arranged between the water output source and the water inlet of the water pump 12, so as to ensure the stability of the water adding pressure and prevent the unstable water speed of the water tap 17 from causing the water to be sprinkled or the rice of the container 19 to be scattered.

The water pump 12: a mechanism for delivering or pressurizing a liquid, in an embodiment of the present invention, the water inlet of the water pump 12 may be in communication with the water outlet of the water tank 11 (as shown in fig. 1 and 2) or with a water output source (e.g., the faucet 17 shown in fig. 3); the water outlet of the water pump 12 is used for adding water to a container 19 to be added with water.

In one or more embodiments of the present invention, the water pump 12 is a peristaltic pump, which has the advantage of providing stable and precise delivery of water over other types of water pumps. The working principle of the peristaltic pump is as follows: the length of pump tubing between the two rotating rollers forms a "pillow" shaped fluid. The volume of the "pillow" depends on the inner diameter of the pump tube and the geometry of the rotor. The flow rate depends on the product of the rotation speed of the motor and the size of the pillow and the number of pillows generated in each rotation of the rotor. The size of the "pillow" is generally constant. Pumps with rotors of the same diameter produce pumps with a larger "pillow" volume, with a larger volume of fluid delivered per revolution of the rotor, but with a larger degree of pulsation. Wherein, the higher the rotating speed of the motor is, the larger the water flow is. In one or more embodiments of the invention, the peristaltic pump is an automatic speed-adjustable stepping motor, so that the speed of the peristaltic pump can be dynamically adjusted according to the current added water amount, and the water adding process is more stable.

The water flow sensor 13: the water flow sensor 13 is arranged at the water outlet of the water pump 12 and used for detecting the water flow of the water pump 12, and the water flow sensor 13 can output corresponding water flow detection signals according to the water flow of the water outlet of the water pump.

In one or more embodiments of the present invention, the water flow sensor 13 may be a pulse flow sensor, which is mainly composed of a copper ball valve, a water flow rotor assembly, a current stabilizing assembly, and a hall element, and the magnetic rotor rotates when water flows through the rotor assembly, and the rotation speed varies linearly with the flow. The hall element outputs a corresponding number of pulses to be fed back to the main control unit 14.

The main control unit 14: for example, a PLC (Programmable Logic Controller) is electrically connected to the water flow sensor 13 and the driving unit of the motor of the water pump 12, and is configured to receive the water flow detection signal, calculate the current water output of the water pump according to the water flow detection signal (pulse number), generate a corresponding control signal (current signal) according to the calculated current water output of the water pump to the driving unit of the water pump 12, control the rotational speed of the motor of the water pump 12, and further control the water output speed of the water pump 12.

In some embodiments of the present application, when the pressure regulating device includes the pressure sensor 20 and the water pressure regulator 21, the main control unit 14 may be further electrically connected to the pressure sensor 20 and the water pressure regulator 21, respectively, for receiving a water pressure detection signal generated by the pressure sensor 20, determining a water pressure of the water inlet of the water pump 12 according to the water pressure detection signal, and controlling the water pressure regulator to regulate the water pressure of the water inlet of the water pump 12 to a preset range when the water pressure of the water inlet of the water pump 12 is not within the preset range. The preset range may be 0.2-0.3MPa, and of course, other water pressure ranges may also be possible, which is not limited in this application.

In order to realize a high-precision and high-stability water adding process, in the embodiment of the invention, the water pressure at the water inlet of the water pump 12 is detected by the pressure sensor 20, a water pressure detection signal is output to the main control unit 14, the main control unit 14 determines the water pressure at the water inlet of the water pump 13 according to the water pressure detection signal and judges whether the water pressure at the water inlet of the water pump 12 is within a preset range, if the water pressure is not within the preset range, a deviation value is determined according to the deviation between the water pressure at the water inlet of the water pump 13 and the preset range, a correction parameter corresponding to the deviation value is generated and sent to the electric actuating mechanism of the electric valve, so that the electric actuating mechanism of the electric valve adjusts the opening degree of the valve of the electric valve according to the correction parameter, the water pressure at the water inlet of.

In the embodiment of the present application, a PID control method is adopted for the regulation of the water pressure at the water outlet of the water pump 12, wherein the PID control consists of a proportional unit (P), an integral unit (I) and a derivative unit (D). The adjustment of the water pressure at the water outlet of the water pump 12 is realized through the setting of three parameters Kp, Ki and Kd.

Specifically, as shown in fig. 4, the control principle process of the PID control is: firstly, determining a deviation value between a preset (pressure) range and the pressure measured by the pressure sensor 20, then obtaining a bias voltage digital quantity beta by proportional control, integral control and differential control of the deviation value, calculating the bias voltage digital quantity beta with a given digital quantity alpha, and generating a corresponding correction parameter to an electric actuating mechanism of the electric valve so that the electric actuating mechanism of the electric valve adjusts the opening degree of the electric valve according to the correction parameter. When determining the PID parameters, the proportional gain P is generally determined, then the integration time constant Ti is determined, and finally the integration time constant Td is determined.

It can be understood that this application is through the water pressure that sets up the water inlet that pressure sensor 20 detected the water pump, set up the water pressure of the water inlet that water pressure regulator 21 adjusted water pump 12, when the water pressure of the water inlet of water pump 12 is not when predetermineeing the within range, through the water pressure of the water inlet of main control unit regulation water pump, thereby make the water pressure of the water inlet of water pump remain stable, and then make water pressure stable, make rice not broken away, and simultaneously, improve the detection precision of the water yield of water pump, realize stably, the accuracy is added water.

It should also be appreciated that the above is merely one example of a watering system and that one or more of the above components may not be necessary in some scenarios, for example, in a scenario where receptacle 19 does not have a lid, an automatic lid removal mechanism may not be necessary. In some embodiments, the pressure regulating device may also be unnecessary for cost savings.

Fig. 5 shows a parameter relationship diagram of the master control unit 14.

As shown in fig. 5, in one or more embodiments of the present invention, the main control unit 14 may store in advance speed setting information of the water pump 12, which is used to record a corresponding relationship between the number of pulses and the water output of the water pump 12, and a corresponding relationship between the water output of the water pump 12 and a target rotation speed of the motor of the water pump 12, a water inlet pressure parameter (e.g., the preset range) of the water pump 12, and the like.

Wherein the preset range of the water pressure of the water inlet of the peristaltic pump in the water adding process can be set to be 0.2-0.3 MPa.

In one or more embodiments of the present invention, the main control unit 14 is specifically configured to calculate a water output Q of the water pump 12 corresponding to the pulse number output by the pulse flow sensor according to the pulse number output by the pulse flow sensor and a corresponding relationship between the pulse number and the water output of the water pump 12, and further determine a target rotation speed of the motor of the water pump 12 corresponding to the water output Q of the water pump 12 according to the water output Q of the water pump 12 and a corresponding relationship between the pre-stored water output and the target rotation speed of the motor of the water pump 12, so as to output a corresponding current signal to a driving unit of the motor of the water pump 12, and control the rotation speed of the motor of the water pump 12 to be the target rotation speed, thereby achieving the purpose of controlling the.

In one or more embodiments of the invention, depending on the accuracy of the pulsed flow sensor, approximately 50 pulses are received for a1 gram quantity of water. Then, the corresponding relationship between the pulse number output by the pulse flow sensor and the water yield of the water pump may be: 50 pulses correspond to a water throughput of 1 gram.

The water output Q of the water pump 12 is used to indicate the current water output of the water pump 12 and the added water amount added into the container 19, and is not described here to avoid unnecessary ambiguity.

Optionally, in one or more embodiments of the present invention, the water adding mechanism may further include: the display unit (not shown) may be specifically a touch screen, and the user may set one or more of the speed setting information and the water inlet pressure of the water pump 12 through the touch screen, and meanwhile, the display unit may be further configured to display one or more of the water adding amount of the water pump 12, the number of pulses corresponding to the water adding amount, the water inlet pressure of the water pump 12, and the like in real time.

Optionally, in one or more embodiments of the present invention, when the pressure regulating device is the water tank 11, as shown in fig. 1, the water tank 11 may include a tank body 111 and a ball valve assembly 112, wherein the ball valve assembly 112 includes a floating ball, a ball valve and a connecting rod, wherein the floating ball and the ball valve are respectively located at two ends of the connecting rod, and the floating ball floats up and down along with the water level of the water tank 11 to detect the water level; the ball valve is made of rubber and is used for plugging the water inlet of the water tank 11. The water tank 11 adopts the lever principle, and when 11 water levels of water tank were low, the floater reduced along with the water level, and when 11 water levels of water tank were less than first threshold value, the floater passed through the connecting rod of fixed floater and drove the ball valve, made there be the space between the water inlet of ball valve and water tank 11, can make hydroenergy can get into water tank 11. When the water level of the water tank 11 is higher than the second threshold value, the floating ball generates buoyancy to enable the floating ball to rise and the buoyancy is larger than the water pressure, the ball valve can block the water inlet of the water tank 11, and the water inlet of the water tank 11 is stopped. Thus, water can be automatically added into the water tank 11, the floating ball of the water tank 11 is lifted to a certain position and then stops injecting water, water is taken while water is supplied, water pressure balance can be guaranteed in a water taking mode, guarantee is provided for improving water adding precision, and water speed and water pressure instability are prevented from causing water spraying or scattering of rice containing tools 19. Wherein, the first threshold may be 5cm, 6cm, etc., the second threshold may be 30cm, 35cm, etc., and the first threshold and the second threshold may be determined according to the structure and material of the ball valve assembly and the capacity of the water tank 11.

It should be understood that the automatic lid removal mechanism is an automated control mechanism, and may be controlled by the main control unit 14, or may be controlled by other control mechanisms.

It can be understood that the water adding system provided by the embodiment of the invention controls water adding through the water flow sensor 13 and the water pump 12, and the water inlet of the water pump 12 is communicated with the water outlet of the water tank 11, so that the water output source can feed water into the water tank 11 while the water pump 12 feeds water into the water tank 11, thereby ensuring the balance of the water pressure of the water inlet of the water pump 12, ensuring more stable and accurate water outlet control of the water pump 12, having high automation degree and simple use, and greatly improving the working efficiency and the water adding efficiency.

Based on the above, the following description will be made of a water adding flow of the water adding system for rice cooker, taking the water adding system as an example.

Fig. 6 shows a water adding process flow chart of the water adding system for the rice cooker.

As shown in fig. 6, taking the container 19 as a clay pot and the automatic cover-removing mechanism as a clamping jaw as an example, the water-adding process of the water-adding system for rice cooked in clay pot may include:

step S101: the tile pot is conveyed to a water adding position, and then step S102 is executed;

step S102: the clamping jaw descends to the position of the cooker cover of the clay cooker, and then step S103 is executed;

step S103: clamping the cooker cover of the tile cooker by the clamping jaw, and then executing the step S104;

step S104: the clamping jaw clamps the cooker cover to ascend to a designated position, and then step S105 is executed;

step S105: the water adding mechanism starts adding water, and then step S106 is executed;

step S106: whether the water yield reaches a target value or not, if so, executing the step S107, and if not, continuing to add water;

step S107: the clamping jaw is lowered to the covering position, and then step S108 is executed;

step S108: loosening the cooker cover of the tile cooker, and then executing the step S109;

step S109: the clamping jaw is lifted to a waiting position, and then step S110 is executed;

step S110: the water addition was completed.

In conclusion, when the tile pot reaches the water adding position, the water adding process flow is formally started, the clamping jaw is at the waiting position and begins to descend to take the pot cover of the tile pot, the pot cover is clamped and begins to ascend after the clamping jaw reaches the pot cover position, and after the clamping jaw grabs the pot cover and ascends to the designated position, the water outlet of the water adding mechanism reaches the water adding position of the tile pot, and the water adding control stage is started. When the water yield reaches a set target, the clamping jaw descends to the cover placing position and loosens the pot cover of the tile pot, and then the tile pot returns to the waiting position again to prepare for the cover taking operation of the next tile pot.

In order to realize a high-precision and high-stability water adding process, the water flow sensor 13 is used for detecting the water flow of the water pump 12 and outputting a corresponding pulse number to the main control unit 14, and the main control unit 14 calculates the added water amount added into the tile pot according to the pulse number, so that the water outlet speed of the water pump 12 is determined according to the added water amount added into the tile pot.

Specifically, taking the water pump 12 as a peristaltic pump and the water flow sensor 13 as a pulse flow sensor as an example, the water adding control process may be:

firstly, a peristaltic pump is started to add water, a pulse flow sensor sends out corresponding pulse numbers to the main control unit 14 according to the size of water flow under the action of the water flow, and the main control unit 14 collects output pulses of the pulse flow sensor in real time.

Then, the main control unit 14 determines the operation speed (the rotation speed of the motor) of the peristaltic pump by comparing and calculating data in the program and converting the data according to the current pulse number, the corresponding relationship between the preset pulse number and the water output of the peristaltic pump and the corresponding relationship between the preset water output of the peristaltic pump and the target rotation speed of the motor of the peristaltic pump. A preferred graph of the operating speed of the peristaltic pump versus the amount of water pumped out by the peristaltic pump obtained by debugging and operation tests can be shown in fig. 5, wherein the peristaltic pump flow shown in fig. 5 is the amount of water added to the clay pot calculated by the main control unit 14. When the water output of the peristaltic pump reaches a certain set value, the peristaltic pump is controlled to slowly decelerate, and the effect of controlling the water output precision is achieved.

Finally, when the water adding amount reaches the set target, the main control unit 14 generates a completion signal to the peristaltic pump, the peristaltic pump stops running, and the water adding is completed.

As shown in fig. 7, the embodiment of the present invention includes two different speeds throughout the water addition process. In the initial stage of water adding, because the water yield is low, under the condition of ensuring that no too large impact exists, in order to save the water adding time, a larger stable speed is needed, the main control unit 14 controls the acceleration time of the peristaltic pump to be T0, the peristaltic pump starts to start and accelerates at a set acceleration, when the acceleration time reaches a requirement, the peristaltic pump starts to operate at a stable first speed V1, when the water adding amount reaches a first set value a1, the peristaltic pump decelerates from the first speed V1 to a second speed V2 until the current water yield of the peristaltic pump reaches a target value a2, the main control unit 14 generates a completion signal to the peristaltic pump, and the peristaltic pump stops operating (the motor starts to decelerate until being 0). The main control unit 14 is further configured to obtain a water flow detection signal output by the pulse flow sensor in real time, and calculate the current water yield of the water pump 12 according to the water flow detection signal.

Alternatively, the first speed V1 may be set at between 250 and 400n/min and the second speed V2 may be set at between 80-100 n/min.

In the embodiment of the invention, since the water adding amount of the rice to be cooked is usually set to be between 205 and 215 grams according to the difference of the tastes, the target value a2 can be set to be between 205 and 215 grams, and the first setting value can be set to be between 190 and 195 g.

It can be understood that a larger steady speed (i.e. the first speed V1) is required to save the water adding time at the initial stage of water adding due to the small amount of water added under the condition of ensuring that no too large water pressure impact is generated. When the water adding amount reaches the first set value a1, the pulse flow sensor generates error pulses in the impact of the water pressure, so that the pulse number received by the main control unit is inconsistent with the actual water output pulse number, the peristaltic pump is decelerated to the second speed V2, and then when the water amount reaches the target value, the water pump is stopped at the lower speed, namely the second speed, so that the impact force of the water pump on the sensor when the water pump is stopped is reduced, and the accuracy of the pulse flow sensor is improved.

FIG. 8 shows a flow chart of a water addition control method.

The embodiment of the application also provides a water adding control method, which is applied to a main control unit 14 of a water adding system, wherein the water adding system comprises a water tank 11, a water pump 12, a water flow sensor 13 and the main control unit 14, a water outlet of the water tank 11 is communicated with a water inlet of the water pump 12, and a water outlet of the water pump 12 is used for adding water to a container 19 to be added with water; the water flow sensor 13 is arranged at the water outlet of the water pump 12, is electrically connected with the main control unit 14, and is used for outputting a water flow detection signal according to the water flow of the water outlet of the water pump;

as shown in fig. 8, the water addition control method includes:

step S201: the main control unit controls a motor of the water pump to rotate and accelerate to a first speed;

step S202: the main control unit receives a water flow detection signal sent by a water flow sensor;

step S203: the main control unit determines the current water yield of the water pump according to the water flow detection signal and controls the rotating speed of a motor of the water pump according to the current water yield of the water pump, wherein when the current water yield of the water pump reaches a first set value, the rotating speed of the motor of the water pump is controlled to be reduced from a first speed to a second speed; and when the current water yield of the water pump reaches the target value, controlling a motor of the water pump to stop rotating.

In one possible implementation, the water flow sensor is a pulse flow sensor, and the water flow detection signal is the number of pulses;

confirm the current water yield of water pump according to rivers detected signal, control the rotational speed of water pump motor according to the current water yield of water pump, include:

calculating the current water yield of the water pump according to the pulse number output by the pulse flow sensor and the corresponding relation between the preset pulse number and the water yield of the water pump;

determining the target rotating speed of the water pump motor according to the current water yield of the water pump and the corresponding relation between the preset water yield and the target rotating speed of the water pump motor;

and controlling the rotating speed of the water pump motor to be a target rotating speed.

In one possible implementation manner, the water adding control method further includes:

In one possible implementation, the predetermined range is 0.2-0.3 MPa.

In one possible implementation, the first speed is between 250-400n/min and the second speed is between 80-100 n/min.

In one possible implementation, the first set point is between 190 and 195g, and the target value is between 205 and 215 g.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the water adding control method described above may refer to the corresponding content in the foregoing system embodiment, and is not described herein again.

Fig. 9 shows a block diagram of a water supply control apparatus.

The embodiment of the present application further provides a water adding control device, as shown in fig. 9, the water adding control device 400 includes:

the first control module 410 is used for controlling the motor of the water pump to rotate and accelerate to a first speed, and the water outlet of the water pump is used for adding water into the container;

the second receiving module 420 is configured to receive a water flow detection signal sent by a water flow sensor, where the water flow detection signal is generated by the water flow sensor according to a water flow rate at a water outlet of the water pump; and

the second control module 430 is configured to determine a current water yield of the water pump according to the water flow detection signal, and control a rotation speed of a motor of the water pump according to the current water yield of the water pump, where when it is determined that the current water yield of the water pump reaches a first set value, the rotation speed of the motor of the water pump is controlled to be reduced from a first speed to a second speed; and when the current water yield of the water pump reaches the target value, controlling a motor of the water pump to stop rotating.

a second control module 430 comprising:

the first calculating unit is used for calculating the current water yield of the water pump according to the pulse number output by the pulse flow sensor and the corresponding relation between the preset pulse number and the water yield of the water pump;

the first determining unit is used for determining the target rotating speed of the water pump motor according to the current water yield of the water pump and the corresponding relation between the preset water yield and the target rotating speed of the water pump motor;

and the first control unit is used for controlling the rotating speed of the water pump motor to be a target rotating speed.

In one possible implementation manner, the water adding control device 400 further includes: and the third control module is used for controlling the water inlet pressure of the water pump within a preset range.

In one possible implementation, the predetermined range is 0.2-0.3 MPa.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the water adding control device described above may refer to the corresponding content in the foregoing system embodiment, and is not described herein again.

In the above embodiments, the main control unit, the control device, and the like may include, for example, a CPU, a DSP, a microcontroller, or a digital Signal processor, and may further include a GPU, an embedded Neural Network Processor (NPU), and an Image Signal Processing (ISP), where the processor may further include a necessary hardware accelerator or a logic Processing hardware circuit, such as an ASIC, or one or more integrated circuits for controlling the execution of the program according to the technical solution of the present application. Further, the processor may have the functionality to operate one or more software programs, which may be stored in the storage medium.

The embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory is used to store information including program instructions, and the processor is used to control execution of the program instructions, and the program instructions are loaded and executed by the processor to implement the water adding control method provided in any embodiment of the present invention.

The embodiment of the present invention further provides a readable storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is enabled to execute the water adding control method provided by any embodiment of the present invention.

The present invention also provides a computer program product, which includes a computer program and when the computer program runs on a computer, the computer executes the water adding control method provided by any embodiment of the present invention.

In the embodiments of the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.

Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, any function, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above embodiments are only specific embodiments of the present application, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of controlling addition of water, the method comprising:

2. The method of claim 1, wherein the water flow sensor is a pulse flow sensor and the water flow detection signal is a number of pulses;

3. The method of claim 1, further comprising:

4. A method according to claim 3, wherein said predetermined range is 0.2-0.3 MPa.

5. The method as claimed in claim 1, wherein the first speed is between 250 and 400n/min, and the second speed is between 80 and 100 n/min.

6. The method as claimed in claim 1, wherein the first set value is between 190 and 195g, and the target value is between 205 and 215 g.

7. A watering system, characterized in that the system comprises:

the water pump is used for adding water to the container;

receiving a water flow detection signal sent by the water flow sensor;

8. The watering system of claim 7, wherein the water flow sensor is a pulse flow sensor and the water flow detection signal is a number of pulses;

9. The watering system of claim 7, further comprising:

10. A watering system according to claim 9, wherein the predetermined range is 0.2-0.3 MPa.

11. The water addition system of claim 7, wherein the first speed is between 250 and 400n/min and the second speed is between 80 and 100 n/min.

12. The water adding system as recited in claim 7, wherein the first set value is between 190 and 195g, and the target value is between 205 and 215 g.

13. A watering control apparatus, comprising:

14. An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, the processor is connected with the memory, and the processor executes the computer program to realize the watering control method according to any one of claims 1 to 6.

15. A readable storage medium, comprising computer instructions, which when run on an electronic device, cause the electronic device to perform the watering control method of any one of claims 1-6.