CN100413440C - Automatic cooking machine and its control system - Google Patents
Automatic cooking machine and its control system Download PDFInfo
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- CN100413440C CN100413440C CNB031408621A CN03140862A CN100413440C CN 100413440 C CN100413440 C CN 100413440C CN B031408621 A CNB031408621 A CN B031408621A CN 03140862 A CN03140862 A CN 03140862A CN 100413440 C CN100413440 C CN 100413440C
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Abstract
The present invention relates to a control system of an automatic cooking machine, which is characterized in that the control system comprises a sensor for measuring various physical/chemical variables of cooking optimal fire, a processor, an executing mechanism, a control subsystem of optimal fire, a control subsystem of feeding, a control subsystem of material flipping, and a central coordinated control module for controlling the control subsystems in a coordination mode, wherein the central coordinated control module and the control subsystems form an integrated control system or/and correspondingly independent coordination control subsystem. The present invention provides a control system of an automatic cooking machine and the automatic cooking machine which dynamically set heating intensity and a heating process, control various operation systems in a coordination mode, and dynamically master the occasion of the cooking optimal fire to carry out corresponding operation according to the set heating intensity and the heating process.
Description
[technical field]
The present invention relates to cook the field of machinery, specifically, relate to a kind of automatic cooking machine and control system thereof.
[background technology]
The cooking method especially skill and technique of chinese-style cuisine changes various, wherein main cooking method comprise stir-fry, quick-fried, fry in shallow oil, explode, burn, steam, slip, boil etc., the essence of various cooking methods be adopt various mode of heatings make different by gratin through different collocation and various expection duration and degree of heating state after, the cooking obtains Protean various cuisines with different taste characteristics and local flavor effect; From taste have sweet, sour, bitter, peppery, salty respectively, said perfume (or spice), crisp, crisp, tender effect from local flavor.
Up to now, the cooking still mainly is a kind of experience and is main skill by hand, China's cooking method especially like this, why cooking method has so big experience characteristic and difficulty, key is the especially Chinese cooking method of the skill and technique of cooking, except materials collocation has the special cultural and historical characteristic, play therein play the leading role in the effect of commanding the still especially Chinese cooking method of various cooking methods to original grasp and the utilization of the cooking duration and degree of heating; Because, static materials collocation is easy to acquire, also be easy to realize automation, and dynamic according to the corresponding duration and degree of heating feed intake opportunity, stir, shift out, cooling etc. is the technology grasped of being difficult to very much, also be difficult to sum up, therefore up to the present, the cooking machine that does not also occur a kind of real automation on the market especially the Chinese style automatic cooking machine be overall process need not people's hand operated, automatically realize various main cooking methods especially the chinese-style cuisine skill and technique, producing reaches that cooking method requires and the device of stay in grade.
The inventor has carried out long-term careful chiseling to " duration and degree of heating " and has touched analysis, find " duration and degree of heating " notion mainly comprises following two big relevant difficult points:
First heating intensity and process: heating intensity and process are one of key contents of cooking duration and degree of heating notion: say superficially, heating intensity is the product effect of heating-up temperature/heat and heat time heating time, and heating process is speed or the acceleration and the stage of temperature/thermal change; Under the situation former, that auxiliary material is identical, the just right quality for dish and other cooked food of heating intensity and process plays a decisive role.Heating intensity and process are improper, and " overdoing " or " having not been cooked or heated long enough " then is not to be exactly to give birth to always.Can say for certain, heating intensity and process are to determine the opportunity that feeds intake, the multiple cooking method of realization and the differently flavoured most important condition, heating intensity and process are not sure, it is out of turn to feed intake, various cooking methods can't be realized, the local flavor effect also can't reach, thereby loses the characteristic of various skill and technique and local flavor.Heating intensity and process are first technology of cook's duration and degree of heating fire merit, also are the technology of the most difficult grasp, are the major criterions of weighing cook's technical merit, also are the keys that can automatic-cooking successful.Therefore, if will realize automatic-cooking, what at first need to solve is exactly how to make the automatic-cooking function control heating intensity and process in the duration and degree of heating automatically.
It two is duration and degree of heating opportunity and operation: on the heating intensity in the control duration and degree of heating and the basis of process, carry out various cooking basic operations, the notion of promptly so-called duration and degree of heating opportunity and operation the opportunity of response heating intensity and process creation; Duration and degree of heating opportunity and operation are another critical aspects of realizing main cooking method, must make automatic cooking machine carry out various cooking basic operations according to the requirement of the cooking method and the kind of cooking, for example according to correct order carrying out material on the opportunity of correct heating intensity and process creation under the condition according to the requirement of the cooking method and the kind of cooking throws in automatically, turn so that similar cook is normally used, for a short time turn over, turn over greatly and draw and loose to wait the cooking to stir mode substantially, and in gastronomical process, contain out and throw in again quilt automatically and cook material etc. according to the requirement of cooking method automatically to being stirred by gratin.
Certainly, carry out the cooking of various dish, also have many problems to solve, but with regard to a cooking machine, its problem that mainly must solve is exactly two above broad aspect, above-mentioned two large problems has been resolved, and other varied problems all can be readily solved.According to the viewpoint that above-mentioned in-depth analysis obtains, we study following prior art:
Making on the full automatic cooking machine problem, there is the people once to propose in the bottom of a pan or the outer wall of wall mounting temperature sensor.For example No. 99224470.6, of China national Department of Intellectual Property bulletin is called the utility model patent of " microcomputerized control frying pan ", proposes mounting temperature sensor on the external wall of pot.But owing to reasons such as the thermal conductivity factor difference of the existence of thermal resistance, each object and diabatic process hysteresis, different with the temperature of outer wall of wall in the pot by the temperature of gratin and heat transfer medium, and also linearity not necessarily of the cause and effect variation relation between them.Be installed in the temperature sensor of pot on the external wall and can only measure the temperature of outer wall of wall, can not accurately and timely measure in the pot by the temperature of gratin.Thereby can not accurately and timely measure by the duration and degree of heating state of gratin.A typical example steams exactly, is steamed the temperature of article and the temperature and the variation of variation and outer wall of wall and differs greatly.The control of duration and degree of heating control is interior by gratin to liking pot, rather than outer wall of wall.Have only directly accurately to measure in the pot simultaneously and just can be reached the purpose of accurately and timely judging and controlling the duration and degree of heating by the temperature of gratin.
Above-mentioned No. 98232677.7 patent proposes with photo-electric control card control feeder work drive motor and frying pan work drive motor, drive that feeder cooks by dish that program time will respectively be joined a portion dish successively, the material package bag is opened and will the dish in interior, expect that five equilibrium delivers in the pot, and drive frying pan and at the uniform velocity rotate along pot dynamo-electric shaft, make a pot interior dish material be able to fully be stir-fried and thermally equivalent.No. 98109123.7, of China national Department of Intellectual Property bulletin is called the patent of invention of " automatic rice and dish cooker ", propose in the switch joining procedure controllers such as electromagnetic clutch, magnetic valve, electric cooker, motor, general supply, need program according to the cooking, instruct to control whole gastronomical process with the key transmission.According to above-mentioned we can find for the in-depth analysis of " duration and degree of heating " notion, the defective of the existing essence of these control modes, all be not find accurate detection by the means of the method for gratin duration and degree of heating state and accurately effective control firepower, material input and the manner of execution and the action moment that mechanism such as stir can only be to carry out according to the subjective static program of setting, the central factor of the correct control of reflection dynamically---by the duration and degree of heating state of gratin.Therefore, control system of the prior art can't realize that obviously various cooking methods are to the control object---carried out dynamically the accurately requirement of control by the duration and degree of heating state of gratin.
[summary of the invention]
Above-mentioned shortcoming at prior art, technical problem to be solved by this invention be to provide a kind of can be according to the requirement of different dish, dynamically set heating intensity and process and coordinate the various operating systems of control, and can dynamically grasp control system and corresponding automatic cooking machine that the cooking duration and degree of heating is carried out the automatic cooking machine (cooking appliance) of corresponding operating opportunity according to heating intensity and the process set.
For this reason, technical solution of the present invention comprises the control system of a kind of automatic cooking machine (cooking appliance), this control system comprises sensing system, processor and the executing agency of various reasons/change parameter when measuring the cooking, this processor is according to the cooking control program of self or external input, after the measurement data of sensor handled, instruct described executing agency to carry out various cooking operations.
Above-mentioned control system comprises duration and degree of heating control subsystem, feeds intake and control subsystem, material turning control subsystem; Described control system also comprises respectively controls association of the central authorities control module that subsystem coordinates to control to described, and this association of central authorities control module controls respectively with described that subsystem constitutes the integrated form control system or/and subsystem is controlled in relatively independent coordination.
Between association of above-mentioned central authorities control module, association of central authorities control module and the described control subsystem, comprise monocycle or/and the control connection of many rings, open loop and/or closed loop and/or semi-loop and/or semiclosed loop concerns between described sensor, processor and the corresponding executing agency that respectively controls subsystem inside.
Above-mentioned sensor and described processor comprise and being subordinated to or/and relatively be subordinated to sub sensor, the divisional processing device of respectively controlling subsystem and be subordinated to or/and relatively be subordinated to master reference, the central processing unit of central authorities associations control module.
Above-mentioned duration and degree of heating control subsystem comprises duration and degree of heating system sensor, duration and degree of heating processor, the heating intensity adjuster of various reasons/change parameter of measuring heat transfer medium and/or being cooked material and/or its executing agency and cooking stove; Duration and degree of heating processor is handled the back according to the measurement numerical value of affiliated sensor and is sent regulating command to the heating intensity adjuster; Simultaneously, other control subsystem is finished corresponding separately compounding practice under the coordination control of association of central authorities control module.
Described control system also has direct feedforward subsystem, this feedforward subsystem is interconnected by the feedforward sensor of the ginseng/rate-of-change sensor that comprises environment ginseng/rate-of-change sensor, initial material ginseng/rate-of-change sensor and relevant parts and the preprocessor that feedovers to be formed, and this feedforward preprocessor also is connected to described subsystem input/output end port; Described feedforward preprocessor is according to the ginseng/type of variables/character of each feedforward sensor input, and the measured value or the processing costs of various instant ginseng/variablees outputed to relevant each control subsystem, to relevant each control subsystem and operate initialization.
Described central authorities associations control module has the COM1 of access to LAN or Internet or/and the required port interface of local human-computer dialogue, thisly comprises wired or/and wireless data display screen and input keyboard for local interactive port interface.
Described executing agency comprises adjuster and actuator; Described adjuster comprises the adjuster of electric, electromagnetic type, electromechanical, mechanical transmission-type, fluid pressure type, and described actuator comprises that the kitchen range of the various heating principles of combustion gas/electricity/magnetic/light/ripple, the box that feeds intake, the flexibility with photoelectricity identification and motor-driven unlatching stir and contain fortune spader, wind/water chiller class mechanism; In described executing agency, also be provided with the feedback transducer of monitoring implementation.
Described cooking control program adopts the accurate digital-to-analogue control function model of relevant cooking duration and degree of heating control procedure and/or the ambiguity function model of empirical rule that the measurement data of sensor is handled.
Correspondingly, technical solution of the present invention also comprises a kind of automatic cooking machine, is equiped with aforesaid control system on the described automatic cooking machine, and these cooking appliances comprise Chinese style combustion gas cooking appliance, electromagnetic oven, electrothermal furnace, micro-wave oven, electric oven etc.
The present invention has adopted the described sensor that designs at cooking machine " duration and degree of heating " specially, processor and executing agency, described processor is according to the cooking control program of self or external input, after the measurement data that sensor is recorded is handled, instruct described executing agency to carry out various cooking operations: the sensor branch of these reason/change parameters is laid in the pot inside and outside of automatic cooking machine, directly contact or distance measuring heat transfer medium comprise stove and accessory, the pot body, soup stock etc., cooking material, executing agency, various reasons/change the parameter of the state of the various relevant cooking duration and degree of heating of environment, environment ginseng/the variable of the relevant duration and degree of heating, initial material ginseng/variable, and the parts relevant and the ginseng/variable of adjustment movement thereof with accurate control and regulation, these sensor combination can provide numerical value based on " duration and degree of heating " state to the relevant processor of the duration and degree of heating, the dynamic value of " duration and degree of heating " control and regulation is provided, thereby for realizing critically that accurately duration and degree of heating control provides the dynamic data basis of the mutual correction of too many levels;
Control system of the present invention is caught principal contradiction, adopted described duration and degree of heating control subsystem, at first measure heat transfer medium such as pot body, soup stock etc., and by the various reasons/change parameter of cooking material, executing agency and cooking stove, with these measurement data time processor processing of fighting, under the coordination of association of central authorities control module, the processor of duration and degree of heating control subsystem sends the adjusting that the stove and accessory firepower is carried out in regulating command to stove and accessory heating intensity adjuster, realizes the duration and degree of heating controlling unit that heating intensity and process are main so substantially;
Other control subsystems of the present invention are as: control subsystem, the material turning of feeding intake control subsystem, further also can expand and comprise and contain fortune control subsystem, cooling control subsystem, washing control subsystem automatically, these systems etc. are all under the coordination control of association of central authorities control module, finish separately corresponding compounding practice, thereby realize by the duration and degree of heating be correlated with the opportunity control and the operation of cooperation;
Above-mentioned control system of the present invention is this based on duration and degree of heating control subsystem, coordinate to control the hardware configuration of other auxiliary control subsystems by association of central authorities control module, add measurement, monitor described executing agency and cooking stove various reasons/change parameter sensor and associative processor constituted plays opening/closed loop of compensation correcting action, half-open, half-closed loop control, can command electric, electromagnetic type, electromechanical, mechanical transmission-type, the adjuster of fluid pressure type, the box that feeds intake of regulating the kitchen range that comprise combustion gas/electricity/magnetic/light/various energy forms of ripple and having photoelectricity identification and motor-driven unlatching, the fortune spader is stirred and contained to flexibility, wind/water chiller class mechanism etc., the common coordination, accurately realize the general objective of duration and degree of heating control, put it briefly, above-mentioned control system of the present invention can solve following complexity at one stroke, critical problem:
A. can automatic accurately dynamically measure duration and degree of heating state---cook material, heat transfer medium and comprised sometime physics, the chemical state of primary condition such as process external environment condition correction in gastronomical process such as pot body and soup stock;
B. can reach control by the purpose of gratin duration and degree of heating state by automatic control firepower and other cooking conditions according to the duration and degree of heating status data of accurate mensuration;
C. can be under cooking method and the desired specific duration and degree of heating state of institute's kind of cook specific former, the auxiliary material of input and semi-finished product reach and stir and contain out automatically, cool off by gratin automatically and carry out other cooking operations automatically automatically.
Control system of the present invention is under the precision prerequisite that guarantees control, the resource occupation of control hardware and software practices every conceivable frugality, take in each control subsystem inside, make sensor, the divisional processing device is relatively independent can to a certain degree share again, carry out open loop and closed loop between sensor, divisional processing device and the corresponding executing agency, the control mode half-open, that half-closed loop control develops simultaneously is striven the efficient and economic of control system;
Consider the cooking dish of one fineness, it is the product of multifactorial handover operation, these factors briefly just have prescription, feed intake, the temperature duration and degree of heating, process, stir, contain several big classes such as fortune, cooling, and expansion is come or is segmented down, be to be pestered beyond endurance, therefore, the control procedure of various dish can not be summarized as the control function of some mathematical models formulas substantially, what wherein exist in large quantities must be the ambiguity function of empirical rule, therefore, control system of the present invention prepares and has reserved such space and structure in described cooking control program;
Further, control system of the present invention is provided with the COM1, wired or/and the interactive port interface of wireless local of access to LAN or Internet by central authorities' association control module, this open cooking program database, can transfer zone rare, the senior cooking talent's in addition experience and wisdom uses by oneself, especially the demand that adapts to big hotel, restaurant's raising cooking class, can expand simultaneously the function of cooking appliance of the present invention greatly, the challenge of the industry that better faces the future;
In sum, the control system of automatic cooking machine of the present invention, really can solve requirement, automatically carry out the such century difficult problem of accurate, accurate cooking operation according to different dish, real for the mankind are freed the new approach of opening up from loaded down with trivial details, high-intensity cooking work.
Specific embodiment and accompanying drawing below in conjunction with Chinese style combustion gas automatic cooking machine are done more detailed explanation.
[description of drawings]
Fig. 1 is the automatic cooking machine front elevational schematic that is equiped with control system of the present invention.
Fig. 2 is the cross-sectional schematic of the combustion gas automatic regulating system of above-mentioned automatic cooking machine.
Fig. 3 is the cross-sectional schematic of another embodiment of combustion gas automatic regulating system of above-mentioned automatic cooking machine.
Fig. 4 is the schematic side view of material packages such as former, auxilliary jacking of the cooking of the present invention and semi-finished product.
Fig. 5 is the vertical view of Fig. 4.
Fig. 6 is the schematic side view of automatic Dispensing system of material of the present invention.
Fig. 7 is the front view of Fig. 6.
Fig. 8 is the schematic side view of another embodiment of material packages such as former, auxilliary jacking of the cooking of the present invention and semi-finished product.
Fig. 9 is the vertical view of Fig. 8.
Figure 10 is the schematic side view of another embodiment of automatic Dispensing system of material of the present invention.
Figure 11 is the vertical view of Figure 10.
Figure 12 is the front elevational schematic with getting-out device stirred of above-mentioned automatic cooking machine.
Figure 13 is the side view of Figure 12.
Figure 14 is the front elevational schematic with another embodiment of getting-out device stirred of above-mentioned automatic cooking machine.
Figure 15 is the side view of Figure 14.
Figure 16 be stirring of above-mentioned automatic cooking machine and getting-out device between the pot body when mobile, the schematic top plan view when it moves to a certain position.
Figure 17 is the schematic block diagram of the basic comprising of control system embodiment of the present invention.
Figure 18 is for respectively controlling the structural representation block diagram of subsystem among the control system embodiment of the present invention.
[specific embodiment]
As shown in figure 17: a kind of control system of automatic cooking machine comprises: measure cooking machine each sensor 100, processor 800 and executing agency 900 about the various reasons/change parameter of the object 001 of the duration and degree of heating, described processor 800 is according to the cooking control program (shown in the U arrow) of self or external input, after the measurement data of sensor 100 handled, instruct the objects 001 of 900 pairs of various relevant duration and degree of heating of described executing agency to carry out various cooking operations.
Above-mentioned cooking control program comprises the ambiguity function about the empirical rule of the accurate digital-to-analogue control function of cooking duration and degree of heating control procedure and the cooking.
As shown in figure 18: the control system concrete analysis of this automatic cooking machine comprises: duration and degree of heating control subsystem 010, the control subsystem 020 that feeds intake, material turning are controlled subsystem 030, other control subsystem (not showing one by one); Described control system also comprises respectively controls association of the central authorities control module 040 that subsystem coordinates to control to described, and this association of central authorities control module 040 becomes one chemical control system system or/and subsystem (being represented by the dotted arrow that central processing unit 840 sends) is controlled in relatively independent coordination with described each subsystem 010,020,030.
Described sensor 100 comprises the duration and degree of heating system sensor 110 that is subordinated to duration and degree of heating control subsystem 010 and is subordinated to other sub sensors of respectively controlling subsystem 020,030 120,130 (control system and loop can be controlled on the subsystem basis in the duration and degree of heating and further expand), described processor 800 comprises and is subordinated to the divisional processing device 810,820,830 of respectively controlling subsystem 010,020,030, and branch executing agency separately 910,920,930, be subordinated to master reference 140, central processing unit 840, central executing agency 940 that module is controlled in association of central authorities; Under the coordination control of central processing unit 840, each sub sensor 110,120,130 and divisional processing device 810,820,830 can be shared by other subsystems.
Between described central authorities associations control module 040, association of central authorities control module 040 and the described control subsystem 010,020,030, between the described sensor 110,120,130 of respectively controlling subsystem 010,020,030 inside and processor 810,820,830 and the corresponding executing agency 910,920,930 mainly be encircle more, the closed loop control connection concerns, guaranteeing also have open loop type, half-open between some parts in the said system under the control accuracy prerequisite or/and the semi-closure control connection.
Described control system also has direct feedforward subsystem 050, this feedforward subsystem 050 is interconnected by the feedforward sensor 150 of the ginseng/rate-of-change sensor of the ginseng/rate-of-change sensor that comprises monitoring of environmental V, initial material ginseng/rate-of-change sensor and relevant parts and the preprocessor 850 that feedovers to be formed, and this feedforward preprocessor 850 also is connected to the input port of described subsystem processor 810,820,830,840; Described feedforward preprocessor 850 is according to the ginseng/type of variables/character of each feedforward sensor 150 input, the measured value or the processing costs of various instant ginseng/variablees are outputed to relevant each control subsystem 010,020,030,040, relevant each control subsystem 010,020,030,040 is operated initialization.
Described central authorities associations control module 040 has the COM1 841 of access to LAN or Internet or/and the required port interface 842 of local human-computer dialogue, thisly comprises wired or/and wireless data display screen 601 and input keyboard 604 (referring to Fig. 1) for local interactive port interface 842.
Described executing agency 910,920,930,940 comprises adjuster and actuator; Described adjuster comprises the adjuster of electric, electromagnetic type, electromechanical, mechanical transmission-type, fluid pressure type, and described actuator comprises that the kitchen range of the various heating principles of combustion gas/electricity/magnetic/light/ripple, the box that feeds intake, the flexibility with photoelectricity identification and motor-driven unlatching stir and contain fortune spader, wind/water chiller class mechanism (all not illustrating) or the like; In described executing agency 910,920,930,940, also be provided with the feedback transducer (not shown) of monitoring implementation; Control system of the present invention and loop thereof also can further expand on the similar structures basis.
Further, it is as follows to be equiped with the embodiment of automatic cooking machine of control system of the present invention:
The automatic cooking machine that has control system of the present invention as shown in Figure 1 by pot body, sensing system, combustion gas or electricity, electromagnetism heating automatic regulating system, automatic Dispensing system of material, stirred system automatically by gratin and the system of containing out and computer or other control system are formed automatically.
Sensor 102,101 is a noncontacting proximity sensor, sensor 102 is installed on the support of material feeding device, sensor 101 is installed in the pot cover, measures in the pot by the temperature of gratin or other parameter, for computer provides feedback data when pot cover is opened and close respectively.Sensor 105 is a touch sensor, is installed in the shovel mouth that stirs the getting-out device shovel, directly measures in the pot by the parameters such as temperature of gratin, for computer provides feedback data.Sensor 107 provides feedback data such as gas flow and pressure for computer.Sensor 106 feedback data such as flame temperature are provided for computer and monitor the combustion of flame, state goes out.Sensor 103 is installed in the material dispensing port, and feedforward data such as material initial temperature are provided for computer.Sensor 104 provides feedforward data such as environment temperature for computer.Sensor 108 provides feedforward data such as the flow of gas source and pressure for computer.Certainly, can also adopt the sensor of other form and sensing system, be placed on diverse location, reach accurate measurement by the purpose of the duration and degree of heating state of gratin as the variation of said apparatus.These variations all drop within protection scope of the present invention.
Combustion gas or electricity, electromagnetism heating automatic regulating system can be the combustion gas self-checking devices of Flow-rate adjustment formula as shown in Figure 2.Combustion gas enters from air inlet 206, the restriction on duct 207, valve core 210, duct 209, and 216 flow out from the gas outlet., promote valve core 210 by push rod 211 and move axially by gear 213 and 214 driving shaft 212 spinning in and out vertically by the motor under the computer control 205, change the long-pending size of valve core restriction flow section, reach the purpose of regulating flow.Valve core 210 abuts against on the push rod 211 under the thrust of spring 217 all the time.Straight-line displacement and angular displacement that sensor 215 is measured axle 212,208 of sensors are measured the outlet gas flow, for computer provides feedback data with accurate control gas flow.
Combustion gas or electricity, electromagnetism heating automatic regulating system also can be the combustion gas self-checking devices of pressure adjustable type as shown in Figure 3.Combustion gas enters from air inlet 223, and radial hole 224, axial aperture 226 enter the sensitive cavity 225 of valve core lower end on valve core 229, and valve core is produced thrust upwards.When there not being combustion gas to enter, or combustion gas just begun to enter, and when pressure was low, the thrust that makes progress was not enough to overcome the active force of spring 230, and valve core is in lowest positions, and air inlet 223 and gas outlet 227 are cut off, and valve port is closed.Along with combustion gas constantly flows into, inlet pressure constantly increases, and the air pressure in chamber 225 also constantly increases thereupon, and when the air pressure in the chamber 225 was increased to active force greater than spring 230, valve core 229 was by jack-up, and stopped on a certain equilbrium position.Air inlet 223, gas outlet 227 are connected at this moment, and combustion gas is 227 outflows from the gas outlet.And the air pressure in chamber 225 no longer raises, and balances each other with spring 230 power at this moment.By gear 220,221 and driving shaft 222 spinning in and out vertically, change the pretightning force of spring 230 by the motor 218 under computer or the other control system control, thereby regulate the atmospheric pressure of jack-up valve core.Straight-line displacement and angular displacement that sensor 219 is measured axle 222,228 of sensors are measured the outlet gaseous-pressure, for computer provides feedback data with accurate control gaseous-pressure.
See also Fig. 4, shown in Figure 5, it is a kind of packaged form of cooking material.Former, auxiliary material and semi-finished product are contained in respectively in the not apposition 313 of plastic casing 303 according to throwing in order.Plastic casing top is with plastic foil 311 hot-press sealed, and hot pressing film front portion is a ligule 310, outside box, stretch out, on a strip projection 309 is arranged.Delivery device with matching such as Fig. 6, shown in Figure 7.During use the hot pressing film of plastic casing sealed and face down, the strip projection 312 that the box mouth edge of plastic casing is formed pushes along groove 302, and it can be slided along groove.Slotted opening 315 with ligule 310 inserts on the turning cylinder 305 makes spring pressuring plate 316 block strip projection 309.Identification bar code 314 on the barcode scanner 304 automatic scans packings, and information passed to computer, computer accesses corresponding cooking software according to identifying information from memory or network.When throwing in material, computer or other control system control motor 317 drive turning cylinder 305 and rotate, and hot pressing film 311 is separated with plastic box body 303, and box body is to front slide, and material falls in the pot of box below in the box.Computer control rotating shaft 305 in position stops operating, and the edge that is separated between the lattice 313 of hot pressing film 311 and box body 303 stops, and makes to have only this material that need throw in to be dropped in the pot.Displacement, angular displacement and other sensor can be installed assists computer accurately to control.
See also Fig. 8, shown in Figure 9 again, it is the another kind of packaged form of cooking material.Former, auxiliary material and semi-finished product are contained in respectively in the not apposition of plastic casing 303 according to throwing in order.Seal with plug-type lid 318 on plastic casing top, and the lid front portion is a ligule 319, outside box, stretch out, on slotted hole 320 is arranged.Automatic Dispensing system of material with matching such as Figure 10, shown in Figure 11.Lid with plastic casing during use faces down, and the strip projection 312 that the box mouth edge of plastic casing is formed pushes along groove 302, and the hook on the mild steel line 321 322 is hooked slotted hole 320.Identification bar code 314 on the barcode scanner 304 automatic scans packings, and information passed to computer, computer accesses corresponding cooking software according to identifying information from memory or network.When throwing in material, computer control motor 317 drives turning cylinder 305 and rotates, make retractable cable wheel 324 volumes draw mild steel line 321, stop that 323 can not travel forward box body 303, plug-type lid 318 is to front slide, separate with plastic casing box body 303, material falls in the pot of box below by the box rear aperture in the box.Computer or other control system control rotating shaft 305 in position stop operating, and lid 318 back edge are parked in the edge between the lattice, make to have only this material that need throw in to be dropped in the pot.Displacement, angular displacement and other sensor can be installed assists computer accurately to control.
Figure 12, Figure 13 shows that a kind of stirring and getting-out device.Stirring/contain out body 420 is a shovel, and one side is the shovel mouth, and three is inclined-plane or curved surface in addition, and its bottom is a curved surface shaped, and is similar to form of pot bottom, is fixed on rotating shaft 421 and 434.Motor 436 drives turning cylinder 421,434 by gear 437, chain 438 and gear 435 and rotates together with shovel 420.Motor 432 drives turning cylinder 431,418 and rotates, and drives connector 419,433 and shovel 420 and rotates together.Motor 424 drives turning cylinder 431,418 by gear 425,422,427, chain 423 and leading screw 416,429 and moves up and down along support 417,430 together with connector 419,433 and shovel 420.Rack beam 426 moves along the chute (not label) of a pair of chute-type guide rail 415,428, and can wholely stir getting-out device move to pot outer with retract.Computer or other control system move in the mode of motion combination according to the needs of cooking method control said apparatus, the cooking such as can realize turning, turn over for a short time, turn over greatly, stirring and stir and move and action such as contain, shift out, move into and pour into.Displacement, angular displacement and other sensor can be installed assists computer accurately to control.
Figure 14, Figure 15 shows that another kind stirs and getting-out device.Form a class ellipsoid container when top-surface camber thing 444 and lower surface camber thing 443 close, the shape of top and bottom is similar to the bottom of a pan, is fixed on rotating shaft 421 and 434.Motor 436 is by gear 437, chain 438 and gear 435 drives rotating shaft 421,434 and class ellipsoid thing rotates together.Motor 432 drives rotating shaft 431,418 and rotates, and drives connector 419,433 and class ellipsoid thing and rotates together.Motor 424 drives rotating shaft 431,418 by gear 425,422,427, chain 423 and leading screw 416,429 and moves up and down along support 417,430 together with connector 419,433 and class ellipsoid thing., rack beam 426 moves along the chute (not label) of a pair of chute-type guide rail 415,428, and can wholely stir getting-out device move to pot outer with retract.When connector 419,433 keep plumbness and class ellipsoid thing keeps level along support 417,430 rise to protrusion 440 when contacting with half moon 439, half moon, 439 oppressed retractions, by linkage 441 tooth bar 442 is stretched out forward, with last, the lower surface camber thing connects gear 447 engagements in the rotating shaft 445, make axle 445 rotate 90 °, top-surface camber thing 444 is opened, connector 419,433 continue to rise to protrusion 440 and half moon 439 when disengaging, spring 446 resets half moon 439, tooth bar 442 retractions, break away from gear 447, fan-shaped protrusion 448 on the axle 445 has rotated 90 ° to position shown in 449 at this moment, ratchet 450 turns to position shown in 451, and the edge that blocks fan-shaped protrusion 448 can not turn round it, and the top-surface camber thing stays open state.When connector 419,433 descended, same action repetitive reverse was carried out, and the top-surface camber thing closes, and ratchet 453 turns to position shown in 452, and the top-surface camber thing is kept closed.When not needing the folding of top-surface camber thing, can before rise and fall, connector 419,433 be departed from the upright position certain angle, protrusion 440 is not contacted in ascending and descending process with half moon 439, can keep opening or close state before the rise and fall.Computer or other control system move in the mode of motion combination according to the needs of cooking method control said apparatus, can realize required the stirring action and action such as contain, shift out, move into and pour into of various cooking methods.Displacement, angular displacement and other sensor can be installed assists computer accurately to control.
See also shown in Figure 16, stir with getting-out device and be installed on the chute-type guide rail 403, motor 401 drives 402 pullings of mild steel line and is fixed on the tripod 454 that stirs on the getting-out device rack beam 426, drive is stirred getting-out device along the guide rail transverse movement, thus realize its shift out pot outer, retract the action that moves on to another pot in the pot, from a pot.There is a plurality of pots situation also can adopt the same manner setting.
Still see also shown in Figure 1ly, when using the present invention to cook, the user is that the material package box 303 hot pressing films 311 that will buy from market earlier insert chutes 302 downwards, tongue is inserted in the slotted opening of rotating shaft 305.Identification bar code 314 on the barcode scanner 304 scanning packing boxes 303 passes to the control computer with identifying information then, and computer is from storage device or the corresponding cooking software of network call.During cooking beginning, computer sends signal, opens magnetic valve 204, combustion gas enters combustion gas automatic regulating system 203 from air inlet pipe 202 by magnetic valve 204, the feedforward data that computer provides according to sensor 104 and 108, control motor 205 rotates, and regulates gas flow.Combustion gas flows into burning seat 501 from escape pipe 201, and automatic ignition device 502 is lighted flame.The feedback data control gas flow that provides of the feedforward data that provides according to sensor 103,104 and 108 of computer and sensor 101,102,105,106 and 107 and the work of each system afterwards.In the time of need feeding intake, driven by motor rotating shaft 305 rotations, volume draws hot pressing film 311 that it is separated with packing box 303, and material falls into pot 702 from opening part.But in the container 308 of heat tracing three lattice are arranged, contain oil, water and soup respectively.Three magnetic valves 307 are controlled the Kai Heguan of oil, water and Tang Sange respectively.Oil, water, soup can inject respectively in the pot by thribble road 306.Groove 302 is installed in the rotating shaft 301 with pot cover 701.As shown in the figure, when feeding intake, automatic Dispensing system of material is to be in lower position, and pot cover is positioned at its top position.In the time of need covering pot cover, 301 rotations of motor 414 driving shafts make pot cover turn to the below.Motor 404 moves downward along support 408 by chain 413, gear 406, leading screw 407 driving shafts 301, automatic Dispensing system of material is delivered to the optimum position or cover pot cover of feeding intake, finish in the time of maybe need opening pot cover when feeding intake, axle 301 moves upward, and abdicates the space and carries out work to stirring getting-out device.Shovel 412 as mentioned above, under the control of computer or other control system, by around axle 411 rotation, with connector 410 around axle 409 rotations and along the aggregate motion that support 405 moves up and down realize cooking method required stir and contain out action.Needing to stir getting-out device, to move on to pot outer or when retracting.Motor 401 moves along chute guide rail 403 by mild steel line 402 driving arms 405.The 603rd, computer control system panel, the 602nd, CD drive, the 604th, input keyboard, the 601st, display.703 is smoke exhaust ventilator.
Claims (11)
1. the control system of an automatic cooking machine, this control system comprise sensing system, processor and the executing agency of measuring the cooking various reasons/change parameter; Wherein, described processor is according to the cooking control program of self or external input, after the measurement data of described sensor is handled, instructs described executing agency to carry out various cooking operations; Described control system comprises duration and degree of heating control subsystem, the control subsystem that feeds intake and material turning control subsystem; It is characterized in that:
Described duration and degree of heating control subsystem comprises duration and degree of heating system sensor, duration and degree of heating processor, heating intensity adjuster, wherein, described duration and degree of heating processor is handled the back to the measurement numerical value of described duration and degree of heating system sensor and is sent regulating command to described heating intensity adjuster; Described duration and degree of heating system sensor had both comprised to be measured heat transfer medium and/or by the sensor of cooking material, also comprises displacement transducer and/or the angular displacement sensor of measuring described heating intensity adjuster; And
In the executing agency of the described control subsystem that feeds intake and in the executing agency of described material turning control subsystem, be equipped with the feedback transducer of its implementation of monitoring.
2. the control system of automatic cooking machine as claimed in claim 1, it is characterized in that: described control system also comprises described association of the central authorities control module that subsystem is coordinated to control, this association of central authorities control module and described subsystem formation integrated form control system and/or the relatively independent coordination control subsystem respectively controlled respectively controlled.
3. the control system of automatic cooking machine as claimed in claim 2 is characterized in that: between association of described central authorities control module, association of central authorities control module and the described control subsystem, comprise monocycle or/and the control connection of many rings, open loop and/or closed loop and/or semi-loop and/or semiclosed loop concerns between described sensor, processor and the corresponding executing agency that respectively controls subsystem inside.
4. the control system of automatic cooking machine as claimed in claim 1 is characterized in that: the described control subsystem that feeds intake comprises the displacement transducer and/or the angular displacement sensor of the executing agency of measuring the control subsystem that feeds intake.
5. the control system of automatic cooking machine as claimed in claim 1 is characterized in that: described material turning control subsystem comprises the displacement transducer and/or the angular displacement sensor of the executing agency of measuring material turning control subsystem.
6. as the control system of one of claim 1-5 described automatic cooking machine, it is characterized in that: described control system also has direct feedforward subsystem, this feedforward subsystem is interconnected by the feedforward sensor of the ginseng/rate-of-change sensor that comprises environment ginseng/rate-of-change sensor, initial material ginseng/rate-of-change sensor and/or relevant parts and the preprocessor that feedovers to be formed, and this feedforward preprocessor also is connected to described subsystem input/output end port; Described feedforward preprocessor is according to the ginseng/type of variables/character of each feedforward sensor input, and the measured value or the processing costs of various instant ginseng/variablees outputed to relevant each control subsystem, to relevant each control subsystem and operate initialization.
7. the control system of automatic cooking machine as claimed in claim 6, it is characterized in that: described central authorities associations control module has the COM1 of access to LAN or Internet or/and the required port interface of local human-computer dialogue, thisly comprises wired or/and wireless data display screen and input keyboard for local interactive port interface.
8. the control system of automatic cooking machine as claimed in claim 7, it is characterized in that: described executing agency comprises adjuster and actuator; Described adjuster comprises the adjuster of electric, electromagnetic type, electromechanical, mechanical transmission-type, fluid pressure type, and described actuator comprises that the kitchen range of the various heating principles of combustion gas/electricity/magnetic/light/ripple, the box that feeds intake, the flexibility with photoelectricity identification and motor-driven unlatching stir and contain fortune spader, wind/water chiller class mechanism.
9. the control system of automatic cooking machine as claimed in claim 8 is characterized in that: described cooking control program adopts the accurate digital-to-analogue control function model of relevant cooking duration and degree of heating control procedure and/or the ambiguity function model of empirical rule that the measurement data of sensor is handled.
10. the control system of automatic cooking machine as claimed in claim 1 is characterized in that: described duration and degree of heating control subsystem further comprises the sensor of various reasons/change parameter of measuring cooking stove.
11. an automatic cooking machine is characterized in that: be equiped with on the described automatic cooking machine as the described control system of one of claim 1～10.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031408621A CN100413440C (en) | 2002-05-31 | 2003-05-31 | Automatic cooking machine and its control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN02115320.5 | 2002-05-31 | ||
| CN02115320 | 2002-05-31 | ||
| CNB031408621A CN100413440C (en) | 2002-05-31 | 2003-05-31 | Automatic cooking machine and its control system |
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| CN1494853A CN1494853A (en) | 2004-05-12 |
| CN100413440C true CN100413440C (en) | 2008-08-27 |
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| CNB031408621A Expired - Fee Related CN100413440C (en) | 2002-05-31 | 2003-05-31 | Automatic cooking machine and its control system |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1781414B (en) * | 2004-11-22 | 2010-12-01 | 刘小勇 | Intelligent frying cooking method |
| CN1806725B (en) * | 2004-11-30 | 2011-07-20 | 刘小勇 | Lubricating oil system and cooking equipment employed the same |
| CN101013535B (en) * | 2006-01-25 | 2011-09-14 | 深圳市繁兴科技有限公司 | Teaching-playback system for automatic/semi-automatic cooking system |
| CN109491270B (en) * | 2015-06-25 | 2020-06-09 | 珠海优特智厨科技有限公司 | Multi-device coordinated cooking control method and system |
| CN109287687B (en) * | 2018-09-29 | 2021-04-13 | 广东科学技术职业学院 | Intelligent baking device and method based on deep learning |
| CN111198529A (en) * | 2020-01-16 | 2020-05-26 | 珠海格力电器股份有限公司 | Cooking equipment, cooking method and device, electronic equipment and storage medium |
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| CN1081866A (en) * | 1993-06-15 | 1994-02-16 | 李祥 | Cooking appliance for foods |
| JPH09201277A (en) * | 1996-01-29 | 1997-08-05 | Paloma Ind Ltd | Rice cooker with gas heat insulating function |
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| CN1494853A (en) | 2004-05-12 |
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