CN102406456B - Human vision principle-based method and device for automatically controlling egg frying fire - Google Patents
Human vision principle-based method and device for automatically controlling egg frying fire Download PDFInfo
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- CN102406456B CN102406456B CN 201110228212 CN201110228212A CN102406456B CN 102406456 B CN102406456 B CN 102406456B CN 201110228212 CN201110228212 CN 201110228212 CN 201110228212 A CN201110228212 A CN 201110228212A CN 102406456 B CN102406456 B CN 102406456B
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Abstract
The invention discloses a human vision principle-based method and a human vision principle-based device for automatically controlling egg frying fire. The method comprises the following steps of: analyzing a histogram of a shot egg frying image, wherein when a gray value between 40 and 60 accounts for more than 1.6 percent of the whole image, an egg is burnt and heating is stopped; and monitoring whether a gray value between 180 and 210 accounts for 0.8 percent of the whole image, if so, the egg is medium, if the gray value between 180 and 210 accounts for 0.9 percent of the whole image, indicating that the egg is medium well, if the gray value between 180 and 210 accounts for more than 1 percent, indicating that the egg is well done, and stopping heating when the set raw and cooked degree is reached. The device comprises a camera, a fire control module, a control panel, a data storage module, a clock module, a camera control module, a raw and cooked degree detection module and a fire control module. The method and the device have the advantages of simple structure, reliability, feasibility and accurate judgment, can effectively control the raw and cooked degree of fried eggs, save energy, and are also suitable for multiple kinds of industrial and commercial stove equipment based on a micro controller.
Description
Technical field
The present invention relates to a kind of method and device of automatic fried egg, be specifically related to a kind of fried egg firepower autocontrol method and device based on the human eye vision principle, belong to machine vision and intelligent appliance field.
Background technology
Fried egg is a kind of very general egg cooking method.Existing fried egg method needs manually-operated mostly, unsupervised automatic fried egg way is regulated gas furnace or the electric furnace heat of fuel gas supply amount often by detected temperatures, or time of culinary art directly is set, as has to fry in shallow oil and fry and the controller of heat insulation function.But this unsupervised method is often inaccurate, and this is because the characteristic of air pressure and the shape of beating eggs different (shapes of spreading out as egg white can cause the egg temperature of diverse location also inequality), and the threshold value of temperature is bad control often, and fried egg is easy to be burned.
Mostly existing kitchen range with firepower control function are be used to cooking congee, mainly contain two series products, one class is half mechanical tuning pot, the mode that still keeps magnet steel limit temperature, regulate power after the boiling with the mode of the make-and-break time that changes relay or diode halfwave rectifier, but these power adjusting are limited, still can overflow; Another kind of is the microcomputer controller of electronic temp limiter and microcomputerized control technology, has the various function control programs of prior setting in the computer, fries in shallow oil the temperature of continuous measuring transducer induction in the stir-fry process, recently regulates heating power by the break-make of relay.On the other hand, owing to rising steadily of combustion gas price, the thermal efficiency performance of gas-cooker seems especially important; Simultaneously the consumer to the security of gas-cooker, energy saving, intelligently also have higher requirement; And energy-saving household electrical appliances are also more and more paid attention to by country and electrical equipment producer.Kitchen range with fried egg of automatic fire power control function will be saved a large amount of energy, but a kind of effectively automatic fried egg firepower control method and device are not arranged at present as yet.
Summary of the invention
The purpose of this invention is to provide a kind of fried egg firepower autocontrol method based on the human eye vision principle, can be according to the appearance change of egg in the fried egg process, judge the cooking level of egg, and the supply of control combustion gas or the power of electric furnace, to overcome the deficiencies in the prior art.Not only can save the combustion gas energy during fried egg, and can guarantee more that egg changes by its appearance characteristics and fry automatically equably, can not have frying excessively or fry in shallow oil not yet done situation.
Another object of the present invention is to provide a kind of automatic fried egg device based on the human eye vision principle, judge the egg cooking level according to egg appearance change in the fried egg process, substitute fully human eye in fried process to the judgement of egg in the pot internal state, and robustness is better.
The technical conceive of the inventive method is as follows:
When fried egg, pour necessary oil plant into after, generally use heated at constant temperature.If someone aside observes, human eye is easy to judge that according to the variation of egg mode of appearance in the pot cooking level of egg (studies show that, the histogram of this judgement usable image is represented), and then the firepower size of control cooking stove, can save combustion gas and energy so on the one hand, can guarantee that on the other hand egg can excessively not be burned because of fried.Therefore carry out unsupervised automatic fried egg based on the human eye vision principle, control combustion gas firepower or electrical power immediately according to the variation of egg outward appearance, can realize the supervision effect of similar human eye vision.
Technical scheme of the present invention is as follows:
Based on the fried egg firepower autocontrol method of human eye vision principle, it is characterized in that this method may further comprise the steps:
(1) camera is arranged on the top of kitchen range, intensity of illumination is adjusted between 150～200lux;
(2) set the cooking level of egg, comprising: medium, eight minutes ripe and well done;
(3) camera is taken the photograph the image of fried egg with fixed interval δ second beats, and the image of taking is carried out histogram analysis obtaining intensity profile, if finding that gray value accounts for entire image between the 40-60 surpasses 1.6%, then shows and is burned, and stops heating; Otherwise continue to monitor gray value between the 180-210, account for entire image as it and reach 0.8%, show that egg reaches medium; Account for 0.9%, show that egg eight minutes is ripe; Surpass 1%, show that then egg is well done;
(4) when reaching the set degree of raw and cooked of step 2, stop heating.
For the degree of raw and cooked by the image recognition fried egg effectively, also comprise calibration analyte after the above-mentioned steps 2, namely after the cooking level of setting egg, at first intercept the sample of a width of cloth the bottom of a pan image, add up its intensity profile, the fried egg image is being carried out no longer participate in histogram analysis for the pixel value that is distributed between the gray area of the bottom of a pan in the histogram analysis, be about to this pixel value and from entire image, get rid of.
Also can install the stable light source of illumination additional to make uniform photoenvironment above kitchen range, this point is particularly suitable for using under airtight fried environment.
Fixed interval δ in the above-mentioned steps 3 can be arranged in 1～2 second scope second, has both guaranteed precision and the speed calculated, is unlikely to again to cause being burned because blanking time is oversize.
A kind of fried egg firepower automaton based on the human eye vision principle, comprise camera and a firepower control device that is used for the simulation human eye vision, it is characterized in that also comprising the control panel for setting the egg degree of raw and cooked, with the data memory module of the degree of raw and cooked that is used for the storage setting, this data memory module sends enabling signal to clock module, camera control module and degree of raw and cooked detection module respectively; Described clock module according to this enabling signal to the pulse of camera control module tranmitting data register, and make camera control module control camera take the fried egg image with the time interval of data memory module storage, described cooking level detection module begins to analyze the fried egg image that camera is taken according to the degree of raw and cooked of setting after receiving this enabling signal, if do not reach the degree of raw and cooked of setting, then sending signal makes the camera control module continue the shooting of control camera, if reach the degree of raw and cooked of setting, then send the fiery pulse in pass and finish automatic fried egg process to described firepower control device via the firepower control module.
Above-mentioned camera control module, degree of raw and cooked detection module and firepower control module constitute control module together, and this control module is the integrated morphology with DSP or chip microcontroller.
This control device can also be provided with light source, and the top that this light source is arranged on kitchen range gets final product.
Above-mentioned control panel can adopt the capacitive induction button, is used for setting and the modification of egg cooking level.
Step of the present invention and apparatus structure are simple, reliably easy goes, judges that accurately the nothing that egg cooking level and automatic fire power are controlled when having realized fried egg is supervised judgement, can control the cooking level of fried egg effectively, has also saved the energy; Obvious technical scheme of the present invention also is applicable to based on the industry of microcontroller and commercial stove equipment.
After configuring predetermined egg cooking level by control panel, press start key and just can realize the automatic fried egg of unmanned supervision, can be according to the variation of egg external appearance characteristic in the fried egg process, automatically judge the cooking level of egg, control kitchen range auto-action, not only energy savings avoids forgetting that the accident of closing fire takes place, and accomplishes all good effects of egg color, smell and taste.Obviously, technology contents of the present invention also is applicable to the microcontroller to be basic industries and commercial stove equipment.
Description of drawings
Fig. 1 is the overall procedure schematic diagram of firepower autocontrol method of the present invention.
Fig. 2 is the schematic diagram of fried egg.
Egg had just been gone into pot to complete well-done histogram when Fig. 3 was fried egg.Wherein:
Fig. 3 a is the histogram of egg when just having gone into pot, and when just squeezing into, the one side of egg contact deep fat bleaches rapidly, because egg white or the pellucidity on egg white thickness problem upper strata.Image is carried out histogram analysis, draw: gray value is accounting for respectively between the overall 0.3%--1.5% between the 0-25, is to increase progressively curve.Gray value between the 25-70 accounts for respectively between the overall 1.5%--2%, is to increase progressively the back decline curve, and gray value 25 accounts for about 1.7%, and gray value 40 accounts for about 2%, and gray value 50 accounts for about 1.7%, and gray value 70 accounts for about 1.5%.
The medium histogram of egg when Fig. 3 b is fried egg, when medium, through heating a period of time, egg white solidifies substantially, and yolk does not also change.Image is carried out histogram analysis, draw: it changes mainly at three gray value interval, 25-70,140-160,200-240.Gray value between the 25-70 accounts for respectively between the overall 2%--2.5%, is to increase progressively the back decline curve, and gray value 25 accounts for about 2%, and gray value 50 accounts for about 2.5%, and gray value 70 accounts for about 2%.Gray value 140-160 is and increases progressively curve, accounts for about 0.5% at gray value 140, and gray value 160 is about 0.7%.Gray value 200-240 be increase progressively the back decline curve, gray value 200 accounts for about 1%, gray value 225 is about 1.4%, gray value 240 is about 1%.By just going into pot state to medium state, gray value about 145 to 180 about between probability reduce, about 200 gray value rises.
Eight fens ripe histograms of egg when Fig. 3 c is fried egg, through heating a period of time, after egg white solidified, yolk is existing to be changed when ripe in eight minutes, and the yolk edge has egg white to adhere to.Image is carried out histogram analysis, draw: it changes mainly at three gray value interval, 25-70,140-160,200-240.Gray value between the 25-70 accounts for respectively between the overall 1.5%--1.8%, is to increase progressively the back decline curve, and gray value 25 accounts for about 1.5%, and gray value 50 accounts for about 1.8%, and gray value 70 accounts for about 1.5%.Gray value 140-160 be increase progressively the back decline curve, account for about 0.4% at gray value 140, gray value 150 accounts for about 0.6%, gray value 160 is about 0.4%.Gray value 200-240 be increase progressively the back decline curve, gray value 200 accounts for about 0.8%, gray value 225 is about 1%, gray value 240 is about 0.8%.Medium to eight fens ripe states, about 30,150,200 gray value reduces slightly, probability and the increase of gray value between 150 to 200.Because the egg white area of white increases, yolk reduces slightly.
Nine fens ripe histograms of egg when Fig. 3 d is fried egg, through heating a period of time, the egg white that yolk adheres to was more when ripe in nine minutes.Image is carried out histogram analysis, draw: it changes mainly at three gray value interval, 25-70,140-160,200-240.Gray value between the 25-70 accounts for respectively between the overall 1.2%--2%, is to increase progressively the back decline curve, and gray value 25 accounts for about 1.7%, and gray value 40 accounts for about 2%, and gray value 70 accounts for about 1.2%.Gray value 140-160 is and successively decreases after increasing progressively and increase progressively curve, accounts for about 0.5% at gray value 140, and gray value 150 accounts for about 0.6%, and gray value 150 accounts for about 0.4%, and gray value 160 accounts for about 0.5%.Gray value 200-240 be increase progressively the back decline curve, gray value 200 accounts for about 1%, gray value 225 is about 1.2%, gray value 240 is about 0.8%.Eight minutes ripe, and ripe main variation was that egg white further increases by nine minutes, and yolk reduces, and histogram gray value total probability and the increase between the 150-200 as can be seen arranged.
The complete well-done histogram of egg when Fig. 3 e is fried egg, egg is complete when well-done, and the egg white that yolk adheres to is more.Image is carried out histogram analysis, draw: it changes mainly at three gray value interval, 25-70,140-160,200-240.Gray value between the 25-70 accounts for respectively between the overall 1.5%--2.2%, is to increase progressively the back decline curve, and gray value 25 accounts for about 1.5%, and gray value 40 accounts for about 2.2%, and gray value 70 accounts for about 1.5%.Gray value 140-160 is to successively decrease after increasing progressively and increases progressively decline curve more again, accounts for about 0.5% at gray value 140, and gray value 145 accounts for about 0.7%, and gray value 150 accounts for about 0.4%, and gray value 160 accounts for about 0.5%.Gray value 200-240 be increase progressively the back decline curve, gray value 200 accounts for about 0.9%, gray value 230 is about 1.1%, gray value 240 is about 0.9%.Nine minutes ripe in well done, totally changes not obviously, and histogram also changes little relatively.
The histogram in the bottom of a pan when Fig. 4 is fried egg.
Consider the color in the bottom of a pan, its gray value mainly is distributed between the 20-40, and remains unchanged in fried egg process.In order to judge the cooking level of egg more accurately, can in program operation process, get rid of the bottom of a pan gray value to the influence of image.
The histogram of burnt egg when Fig. 5 is fried egg.
Burnt egg is done histogram analysis, and its gray value mainly is distributed between the 30-70, when detecting the gray value that is distributed in this scope and raise suddenly, can judge that it is burnt.Control the heating firepower and avoid this regional gray value excessive, specific practice is that to detect this area grayscale value be to reduce to heat firepower unusually.
Fig. 6 is the general structure schematic diagram (containing kitchen range among the figure) of firepower automaton of the present invention.
The structural representation of light source is installed in Fig. 7 the present invention additional above kitchen range.
Wherein, 1, camera, 2, the firepower control device, 3, the camera control module, 4, the degree of raw and cooked detection module, 5, control panel, 6, clock module, 7, the firepower control module, 8, data memory module, 9, control module, 10, kitchen range, 11, light source.
The specific embodiment
Usually, the schematic diagram of fried egg can see that the shape that egg white is spread out in frying pan is normally irregular as shown in Figure 2, and it is circular that the shape of yolk keeps substantially, and little to changing eventually; Analyze by experiment, as shown in Figure 3, the state variation of egg is mainly in three intervals, and gray value is in the 30-70 interval, and about 150 and about 200.
Wherein, as above-mentioned analysis, gray value the interval expression of 30-70 burnt egg, this interval has also comprised the gray value (20-40) of the color in a part of the bottom of a pan; Gray value is represented egg in the fried egg process in the interval about 150, and egg white is in by transparent to the intermediateness that becomes white; Corresponding gray scale interval when the interval of gray value about 200 represents that egg white is well-done.
As shown in Figure 5, in order to get rid of possible coarse data of two end values, choose between the gray area that ratio that gray value between the 40-60 accounts for entire image is burned as judgement, judge when being burned when human eye through experimental analysis again, gray value between 40-60 accounts for entire image and surpasses 1.6%, therefore the foundation of being burned as judgement with this ratio.
Because the variation of yolk is little during fried egg, it is ripe that human eye mainly is that the variation with egg white judges whether to fry in shallow oil, and the grey scale change of egg white is chosen between the 180-210 gray value as between the gray area of judging the egg degree of raw and cooked mainly between 150-240 in this process; Again through experimental analysis when human eye judge egg be medium, eight minutes when ripe, well done, to account for the ratio of entire image be respectively 0.8%, 0.9% and 1% to gray value between described three corresponding 180-210 of degree of raw and cooked, therefore monitor gray value between the 180-210, account for entire image as it and reach 0.8%, show that egg reaches medium; Account for 0.9%, egg eight minutes is ripe; Surpass 1%, show that then egg is well done.
Therefore by above-mentioned experimental analysis, as shown in Figure 1, the fried egg firepower autocontrol method based on the human eye vision principle of the present invention is characterized in that this method may further comprise the steps:
(1) camera is arranged on the top of kitchen range, the intensity of illumination of kitchen range position is adjusted between 150～200lux; Camera will be taken the photograph the image of fried egg with fixed interval δ second beats in step 3, this Fixed Time Interval time δ can be arranged in 1～2 second scope second;
(2) set the cooking level of egg, comprising: medium, eight minutes ripe, well done; For the degree of raw and cooked by the image recognition fried egg effectively, also comprise calibration analyte after this step, namely after the cooking level of setting egg, at first intercept the sample of a width of cloth the bottom of a pan image, add up its intensity profile, the fried egg image is being carried out no longer participate in histogram analysis for the pixel value that is distributed between the gray area of the bottom of a pan in the histogram analysis, being about to this pixel value gets rid of from entire image, in step 3, the denominator of the pixel between this bottom of a pan gray area during not as the percentage that calculates shared entire image between each gray area.
(3) the fried egg image that camera is taken carries out histogram analysis to obtain intensity profile, if find that gray value accounts for entire image above 1.6% between the 40-60, then shows and is burned, and stops heating; Otherwise continue to monitor gray value between the 180-210, account for entire image as it and reach 0.8%, show that egg reaches medium; Account for 0.9%, show that egg eight minutes is ripe; Surpass 1%, show that then egg is well done;
(4) when reaching the set degree of raw and cooked of step 2, stop heating.
Also can install the stable light source of illumination additional to make uniform photoenvironment above kitchen range, this point is particularly suitable for using under airtight fried environment.
A kind of fried egg firepower automaton based on the human eye vision principle, comprise camera 1 and a firepower control device 2 that is used for the simulation human eye vision, it is characterized in that also comprising the control panel 5 for setting the egg degree of raw and cooked, with the data memory module 8 of the degree of raw and cooked that is used for the storage setting, this data memory module 8 sends enabling signal to clock module 6, camera control module 3 and degree of raw and cooked detection module 4 respectively; Described clock module 6 according to this enabling signal to the 3 tranmitting data register pulses of camera control module, and make camera control module 3 control cameras 1 take the fried egg image with the time interval of data memory module 8 storages, described cooking level detection module 4 begins to analyze the fried egg image that camera 1 is taken according to the degree of raw and cooked of setting after receiving this enabling signal, if do not reach the degree of raw and cooked of setting, then sending signal makes camera control module 3 continue 1 shooting of control camera, if reach the degree of raw and cooked of setting, then send the fiery pulse in pass and finish automatic fried egg process to described firepower control device 2 via firepower control module 7.
Above-mentioned camera control module 3, degree of raw and cooked detection module 4 and firepower control module 7 constitute control module 9 together, and this control module 9 is the integrated morphology with DSP or chip microcontroller.
As shown in Figure 7, this control device can also be provided with the adjustable light source of illumination 11, and the top that this light source is arranged on kitchen range 10 gets final product.
Above-mentioned control panel 5 can adopt the capacitive induction button, is used for setting and the modification of egg cooking level.
The resolution ratio of above-mentioned camera 1 is more than 320*480.
During use, above the kitchen range of common gas kitchen ranges or electric furnace (generally not directly over, position that can be directly over departing from a little) cam device is installed, guarantee that the center of taking pictures of camera 1 is at the center of gas-cooker or electric furnace burner.Directly over light source 11 can be installed on.Electronic Control panel 5 can be installed on the smoke exhaust ventilator, also can select more suitable position, as long as guarantee the normal transmission of signal.
As shown in Figure 6, the course of work of fried egg firepower automaton of the present invention is as follows:
At first set the expection degree of raw and cooked by the user at control panel 5, this degree of raw and cooked information is stored in data memory module 8; And can whether start via control panel 5 control systems, if start, then data memory module 8 sends signal, make clock module 6 continuously with the pulse of Fixed Time Interval tranmitting data register, the clock pulse signal that while camera control module 3 receive clock modules 6 are sent, controlling camera 1 at interval with the Preset Time of storage in the data memory module 8 takes pictures, when cooking level detection module 4 is received the enabling signal that data memory module 8 sends, inform that warm oneself in front of a fire force control device 2 of firepower control module 7 sends firing pulses, 10 igniting of control kitchen range, cooking level detection module 4 is analyzed after receiving the image that camera 1 sends, do not set and be stored in expection cooking level in the data memory module 8 if reach the user by control panel 5, then sending signal makes camera control module 3 continuation control cameras 1 take pictures, if reach the expection cooking level, then send signal and inform firepower control module 7, its force control device 2 that warms oneself in front of a fire is sent close fiery pulse, close kitchen range 10, the fried egg flow process finishes automatically.
Claims (8)
1. based on the fried egg firepower autocontrol method of human eye vision principle, it is characterized in that this method may further comprise the steps:
(1) camera is arranged on the top of kitchen range, intensity of illumination is adjusted between 150～200lux;
(2) set the cooking level of egg, comprising: medium, eight minutes ripe and well done;
(3) camera is taken the photograph the image of fried egg with fixed interval δ second beats, and the image of shooting is carried out histogram analysis obtaining intensity profile, if finding that gray value accounts for entire image between the 40-60 surpasses 1.6%, then shows and is burned, and stops heating; Otherwise continue to monitor gray value between the 180-210, account for entire image as it and reach 0.8%, show that egg reaches medium; Account for 0.9%, show that egg eight minutes is ripe; Surpass 1%, show that then egg is well done;
(4) when reaching the set degree of raw and cooked of step 2, stop heating;
Above-mentioned steps also comprises calibration analyte: after the cooking level of setting egg, at first intercept the sample of a width of cloth the bottom of a pan image, add up its intensity profile; The fried egg image of taking is being carried out no longer participating in histogram analysis for the pixel value that is distributed between the gray area of the bottom of a pan in the histogram analysis, be about to this pixel value and from entire image, get rid of.
2. the method for claim 1 is characterized in that installing additional the stable light source of illumination to make uniform photoenvironment above kitchen range.
3. the method for claim 1 is characterized in that fixed interval δ second in the above-mentioned steps 3 is in 1～2 second scope.
4. fried egg firepower automaton based on the human eye vision principle, comprise camera (1) and a firepower control device (2) that is used for the simulation human eye vision, it is characterized in that also comprising the control panel (5) for setting the egg degree of raw and cooked, with the data memory module (8) of the degree of raw and cooked that is used for the storage setting, this data memory module (8) sends enabling signal to clock module (6), camera control module (3) and degree of raw and cooked detection module (4) respectively; Described clock module (6) according to this enabling signal to camera control module (3) tranmitting data register pulse, and make camera control module (3) control camera (1) take the fried egg image with the time interval of data memory module (8) storage, described cooking level detection module (4) begins to analyze the fried egg image that camera (1) is taken according to the degree of raw and cooked of setting after receiving this enabling signal, if do not reach the degree of raw and cooked of setting, then sending signal makes camera control module (3) continue control camera (1) shooting, if reach the degree of raw and cooked of setting, then send and close fiery pulse and finish automatic fried egg process via firepower control module (7) force control device (2) that warms oneself in front of a fire.
5. control device as claimed in claim 4 is characterized in that above-mentioned camera control module (3), degree of raw and cooked detection module (4) and firepower control module (7) are the integrated morphology with DSP or chip microcontroller.
6. control device as claimed in claim 4 it is characterized in that this control device also is provided with light source (11), and this light source (11) is arranged on the top of kitchen range.
7. control device as claimed in claim 4 is characterized in that above-mentioned camera (1) resolution ratio is more than 320*480.
8. control device as claimed in claim 4, what it is characterized in that above-mentioned control panel (5) adopts is the capacitive induction button.
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| CN106419540A (en) * | 2016-11-09 | 2017-02-22 | 芜湖智美网络科技有限公司 | Novel egg steamer capable of detecting whether eggs are well cooked or not |
| CN108827962B (en) * | 2018-04-28 | 2020-03-27 | 四川大学 | Egg maturity detection method based on light transmission method |
| CN109480603A (en) * | 2018-10-16 | 2019-03-19 | 珠海格力电器股份有限公司 | A kind of control method and cooking apparatus of cooking apparatus |
| CN112006525B (en) * | 2020-08-11 | 2022-06-03 | 杭州九阳小家电有限公司 | Burnt food detection method in cooking equipment and cooking equipment |
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| CN101901015A (en) * | 2009-05-27 | 2010-12-01 | 深圳市爱可机器人技术有限公司 | Heat control system for cooking device based on machine vision |
| JP5077015B2 (en) * | 2008-03-27 | 2012-11-21 | 株式会社デンソー | LED lighting device |
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| JPH1034305A (en) * | 1996-07-23 | 1998-02-10 | Nippon Steel Corp | Detection of boiling in mold for continuous casting |
| IL173418A (en) * | 2006-01-29 | 2013-10-31 | Rafael Advanced Defense Sys | Non-uniformity correction of images generated by focal plane arrays of photodetectors |
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| CN101901015A (en) * | 2009-05-27 | 2010-12-01 | 深圳市爱可机器人技术有限公司 | Heat control system for cooking device based on machine vision |
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