CN108445793A - A kind of intelligent machine for stir-frying dishes and its regulation and control method based on image monitoring - Google Patents

Abstract

The invention discloses a kind of intelligent machine for stir-frying dishes based on image monitoring and its regulation and control methods, belong to cooking machine control technology field.The cooking machine includes the pot cover of Built-in Image data processing module；Infreared imaging device is used to acquire the infrared chart of dish material in pot；Image data processing module is handled to obtain the distribution of dish material and temperature profile for receiving dish material infrared chart, and is judged, agitating device and array applicator device are regulated and controled；Agitating device is used for the stir-frying of dish material；Array applicator device is used for the computer heating control of whole system.The image intelligent monitoring and regulation and control that cooking process may be implemented through the invention, improve the quality of cooking, meet people's living standard and improve the cooking demand brought.

Description

An intelligent cooking machine based on image monitoring and its control method

technical field

The invention belongs to the technical field of cooking machine control, and in particular relates to an image monitoring-based intelligent cooking machine and a control method thereof.

Background technique

With the advancement of modern science and technology and the improvement of people's living standards, intelligent cooking machines have begun to enter people's lives. However, the current cooking machines are limited by technology. During the cooking process, the ingredients are not evenly stirred, the heat is difficult to control, and the quality of the dishes produced is unsatisfactory. Chinese patent (CN104840094A) discloses a food cooking device with temperature control and a cooking method. The temperature of the frying pan is controlled by setting a layer at the bottom of the pot body, and heating and cooling passages are arranged in the layer. Chinese patent (CN204813310U) discloses a large-scale intelligent small pot continuous cooking machine equipment, which has realized the mechanical automation of garnishes, cooking, and cleaning of large quantities of dishes. The above patents only control the temperature of the pot body as a whole and set a fixed stirring rate, but cannot fully collect the distribution of the vegetables in the pot and the temperature distribution of the vegetables, and cannot achieve visual monitoring of the vegetables in the pot.

Contents of the invention

In view of the problems existing in the prior art, the purpose of the present invention is to provide a method that can monitor the image and temperature distribution in the pot to achieve targeted temperature regulation and control the stirring of dishes, and solve the problem of uneven distribution of vegetables during cooking. Dishes with different maturity and poor quality caused by uneven heating.

To achieve the above object, the present invention adopts the following technical solutions:

An intelligent cooking machine based on image monitoring, including a pot cover, an image data processing module, a stirring device, an infrared imaging device, a pot body, an array heater, a built-in image data processing module in the pot cover, and the image data processing module can receive and process infrared The imaging device collects information and sends out control instructions. The infrared imaging device is fixed on one side of the pot body through a bracket, and the bracket can be rotated so that the lens of the infrared imaging device is located directly above the pot body. The stirring device is fixed on the pot body through a connecting frame and a transmission shaft. The pot cover is on the same side, and the array heater is located directly under the pot body. The image data processing module realizes the control of the array heater and the infrared imaging device through external wires.

In the above scheme, the infrared imaging device includes an infrared camera, a thermopile array sensor and an image switching module, the infrared camera collects the infrared radiation of the vegetable, and the thermopile array sensor collects the temperature data of the vegetable, and the image switching module converts the infrared radiation It is an electrical signal and sent to a microcomputer.

In the above solution, the array heater may be a flame array burner, or an electromagnetic array heater.

In the above solution, the stirring device is composed of a stirring rod with a flat front end, a transmission shaft and a motor.

In the above solution, the image data processing module can receive and process the information collected by the infrared imaging device, specifically including the distribution of vegetables and the temperature distribution of vegetables.

In the above scheme, the temperature distribution of the vegetables is based on the standard deviation SD of the image to reflect the uniformity of the temperature distribution, Among them: x _i is the temperature value of the i-th pixel point, is the average temperature of the whole area, and n is the total number of temperature values of the whole area.

In the above scheme, the distribution of the vegetable material is to reflect the uniformity of the vegetable material by the second-order matrix ASM and entropy ENT in the angle direction, ASM=∑ _i [PΔ(i)] ² , ENT=-∑ _I PΔ(i) lgPΔ(i), where PΔ(i) is the gray difference value probability of the i-th pixel.

A control method for an intelligent cooking machine based on image monitoring, comprising the following steps:

Step 1), when the vegetable material is put into the pot, the stirring device stirs the vegetable material in the pot;

Step 2), when the frying starts, the infrared imaging device collects the infrared heat map of the vegetables in the pot;

Step 3), the image data processing module processes the received infrared heat map of the dish to obtain the temperature distribution map of the dish, and judges, when the temperature distribution map is unevenly distributed, start step 4), when the temperature distribution map is evenly distributed , start step 5);

Step 4), control the array heater, return to step 2);

Step 5), the image data processing module processes the received dish infrared heat map to obtain the distribution of the dish, and judges, when the dish is not evenly distributed, start step 6), when the dish is evenly distributed, start step 7);

Step 6), adjust the stirring rate of the cooking machine through the stirring device, and return to step 2);

Step 7), judging the maturity of the dish, when the dish is not cooked, return to step 1), when the dish is ripe, the dish is ready.

The beneficial effects of the present invention are: the image data processing technology is used to monitor the distribution of the ingredients and the temperature distribution of the ingredients in the cooking process of the cooking machine, and then the array heating technology is used to realize the control of the heat in the cooking process, so as to achieve the purpose of intelligent cooking .

Description of drawings

Fig. 1 is a schematic structural diagram of an image monitoring and control intelligent cooking machine provided by an embodiment of the present invention;

Fig. 2 is a processing flow chart of a kind of vegetable material temperature map provided by the embodiment of the present invention;

Fig. 3 is a processing flow chart of a dish material distribution map provided by an embodiment of the present invention;

Fig. 4 is a control flowchart of an image monitoring and control intelligent cooking machine provided by an embodiment of the present invention.

Among them, 1-pot cover, 2-image data processing module, 3-stirring device, 4-array heater, 5-infrared imaging device, 6-pot body.

Detailed ways

In order to better explain the present invention, the present invention will be further explained below in conjunction with the accompanying drawings of the relevant embodiments. Embodiments of the invention are shown in the drawings, but the invention is not limited to the preferred embodiments described above. Rather, these embodiments are provided so that this disclosure will be thorough.

Fig. 1 is a structural schematic diagram provided by an embodiment of the present invention. The intelligent cooking machine includes a pot cover 1, an image data processing module 2, a stirring device 3, an infrared imaging device 5, a pot body 6, and an array heater 4. The pot cover 1 has a built-in image Data processing module 2, image data processing module 2 can receive and process the information that infrared imaging device 5 gathers, and send control command, infrared imaging device 5 is fixed on pot body 6 side by bracket, and this bracket can rotate and make infrared imaging device The lens of 5 is located directly above the pot body 6, the stirring device 3 is fixed on the same side of the pot cover 1 through the connecting frame and the transmission shaft, the array heater 4 is located directly below the pot body 6, and the image data processing module 2 realizes the heating of the array through an external wire 4 and the control of the infrared imaging device 5.

The infrared imaging device 5 includes an infrared camera, a thermopile array sensor and an image switching module. Since the vegetables in the pot have the ability to automatically emit infrared radiation, the infrared camera collects the infrared radiation of the vegetables, and the thermopile array sensor collects the temperature of the vegetables. Data, the image switching module converts the infrared radiation into an electrical signal and sends it to the microcomputer, and the microcomputer performs image data processing on the electrical signal to form a heat map.

The temperature of cooking is controlled by the array heater 4, and the array heater 4 can be a flame array burner or an electromagnetic array heater. The flame array burner is used to control the temperature: the flame array burner includes a number of micro-nozzles arranged in an array with different heights, a fuel-air mixing distribution chamber, and an airflow controller. Through the fuel-air mixing and distributing cavity, the fuel-air mixing and distributing cavity is provided with an airflow controller that can control the flow of fuel and air, and the airflow controller receives instructions from the computer to regulate the gas flow. The electromagnetic array heater is used to control the temperature: the electromagnetic array heater is composed of several heating coils, and the coils are spirally arranged along the shape of the pot body. The high-frequency current passes through the heating coil to generate an alternating magnetic field, and the alternating magnetic field generates an eddy current through the metal pot body. To achieve the heating effect, the heating of the pot body is regulated by controlling the magnitude of the high-frequency current.

Stirring device 3 is composed of a stirring rod with a flat front end, a transmission shaft and a motor. The transmission shaft uses bearings to realize the one-way rotation of the stirring rod to stir fry the vegetables in the pot. By controlling the magnitude of the current, the motor passes The rotating shaft regulates the stirring rate of the stirring rod.

The image data processing module 2 first performs background processing on the infrared heat map of the vegetable material obtained by the infrared imaging device 5, and uses threshold value segmentation to remove the background, and secondly, the temperature value of the vegetable material in the pot is obtained by the thermopile array sensor in units of pixels, and is processed by image data. Module 2 processes the heat map and temperature value of the vegetables in the pot to obtain a pseudo-color map of the temperature distribution, and then uses the gray difference statistical method to analyze the obtained heat map to obtain the distribution of the vegetables in the pot. The thermal map of the vegetables and the false color map of the temperature distribution regulate the heating of the array heater 4 and the stirring rate of the cooking machine.

As shown in Figure 2, the method for processing the collected infrared heat map to obtain the temperature distribution of the vegetables in the pot is: implement step 21, perform background processing on the acquired infrared heat map of the vegetables, and use threshold segmentation to remove the background; implement Step 22, establish a heat map data matrix with the obtained heat map in units of pixels and perform principal component analysis to obtain a 1-dimensional image of the principal component image; since the value of each pixel point is between [0225], implement step 23, and analyze the heat The graph data matrix is normalized, so that the main range of pixels of the heat map is between [01] to form a new matrix; the new matrix is used as the input matrix of the recognition model, and step 24 is implemented, and the acquired is obtained by binarization The vegetable material temperature value is converted into a 2-dimensional temperature distribution matrix; implement step 25, and then carry out normalization processing so that the value of the heat map pixel is between [0255], and obtain a temperature distribution grayscale image; implement step 26, the obtained The grayscale range of the temperature distribution grayscale image is divided into 64 grayscale levels, and each grayscale level is assigned a color to obtain a pseudo-color image of the temperature distribution of the vegetable. The Halcon image processing software performs data processing on the obtained pseudo-color image The standard deviation (SD) of the image is used to reflect the uniformity of the temperature distribution. The larger the SD, the more uneven the temperature distribution. The specific formula is as follows:

Among them: x _i is the temperature value of the i-th pixel point, is the average temperature of the whole area, and n is the total number of temperature values of the whole area.

The image data processing module 2 receives the instruction of step 26, implements step 27, starts the array heater 4, makes the dishes in the pot heated more evenly; the image data processing module 2 receives the instruction of step 26, implements step 28, stops the array heater 4 controls to keep the ingredients in the pot heated evenly.

As shown in Figure 3, the method for processing the collected infrared heat map to obtain the distribution of vegetables in the pot is as follows: firstly, according to step 31, background processing is performed on the acquired infrared image of vegetables, and the background is removed by threshold segmentation; implementation steps 32. Use the Halcon image processing software to analyze the obtained infrared heat map of the vegetables by the gray difference statistical method, and obtain the evaluation criteria for the uniformity of the distribution of the vegetables: the values of the second-order matrix (ASM) and entropy (ENT) in the angle direction, When the probability PΔ(i)<0.6, ASM<1.84, and ENT≥0.14 of the gray difference values, the distribution of the ingredients is more uniform; the specific formula is as follows:

ASM＝∑ _i [PΔ(i)] ² (2)

Among them: PΔ(i) is the gray value difference probability of the i-th pixel point;

ENT＝-∑ _l PΔ(i)lgPΔ(i) (3)

Image data processing module 2 receives the instruction of step 32, implements step 33, starts the stirrer of cooking machine, makes the dish material distribution in the pot more even; Image data processing module 2 receives the instruction of step 32, implements step 34, stops to cook machine The adjustment of the stirring device keeps the stirring rate in the pot constant, so that the ingredients are evenly distributed.

According to the temperature in the pot and the distribution of the vegetables, the method of regulating the heating degree of the array heater 4 and the stirring rate of the cooking machine is as follows: firstly, the distribution of the temperature of the vegetables in the pot is judged, when the standard deviation of the image SD≥0.083 , the temperature distribution is uneven, it is necessary to adjust the heating degree of the array heater 4, and enter a new cycle; when the standard deviation SD of the image is <0.083, the temperature distribution is uniform, and it is necessary to judge the distribution of the vegetables in the pot, when ASM≥1.84 Or when ENT<0.14, the distribution of vegetables is uneven, and it is necessary to speed up the stirring rate of the cooking machine to enter a new cycle; when ASM<1.84 and ENT≥0.14, the distribution of vegetables is even, keep the current working conditions and continue to run until the cooking is completed .

Fig. 4 is a flow chart provided by the embodiment of the present invention. The method is used to judge the uniform distribution of the ingredients in the pot and the temperature distribution in the pot during the cooking process, and to control the stirring rate of the intelligent cooking machine and the temperature in the pot. , including:

Step 11, when the vegetables are put into the pot, start the stirring device 3 to fry the vegetables in the pot;

When the frying starts, start step 12, and collect the infrared heat map of the vegetables in the pot;

Step 13, the image data processing module 2 processes the received dish infrared heat map to obtain the temperature distribution map of the dish;

Judge the temperature profile after step 13, when the temperature profile is unevenly distributed, start step 14, adjust and control the array heater 4, and enter a new cycle; when the temperature profile is evenly distributed, start step 15, and adjust the Judging the distribution of the ingredients, when the ingredients are not evenly distributed, start step 16, adjust the stirring rate of the cooking machine, and enter a new cycle; when the ingredients are evenly distributed, start step 17, judge the maturity of the vegetables, when the vegetables When the ingredients are not cooked, start step 18, and enter a new cycle to continue frying; when the ingredients are ripe, start step 19, and the cooking is completed.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (8)

1. a kind of intelligent machine for stir-frying dishes based on image monitoring, which is characterized in that including pot cover (1), image data processing module (2), agitating device (3), infreared imaging device (5), pot body (6), array applicator device (4), pot cover (1) Built-in Image data processing Module (2), image data processing module (2) can receive the information acquired with processing infreared imaging device (5), and sends out regulation and control and refer to It enables, infreared imaging device (5) is fixed by the bracket in pot body (6) side, and the holder is rotatable makes infreared imaging device (5) Camera lens be located at right over pot body (6), agitating device 3 is fixed on 1 homonymy of pot cover, array applicator device by link and transmission shaft (4) it is located at immediately below pot body (6), image data processing module (2) is realized by external wire to array heater (4) and red The control of outer imaging device (5).

2. a kind of intelligent machine for stir-frying dishes based on image monitoring as described in claim 1, which is characterized in that the infreared imaging device (5) include thermal camera, thermopile array sensor and image handover module, the infrared spoke of infrared camera scan dish material It penetrates, while infra-red radiation is converted to electric signal by the temperature data of thermopile array sensor acquisition dish material, image handover module, And it is sent to micro computer.

3. a kind of intelligent machine for stir-frying dishes based on image monitoring as described in claim 1, which is characterized in that the array applicator device (4) it can be flame array burner, can also be electromagnetic array heater.

4. a kind of intelligent machine for stir-frying dishes based on image monitoring as described in claim 1, which is characterized in that the agitating device (3) It is flat stirring rod, transmission shaft and motor form by front end.

5. a kind of intelligent machine for stir-frying dishes based on image monitoring as described in claim 1, which is characterized in that described image data processing Module (2) can receive the information acquired with processing infreared imaging device (5), specifically include the distribution of dish material and dish material Temperature Distribution feelings Condition.

6. a kind of intelligent machine for stir-frying dishes based on image monitoring as claimed in claim 5, which is characterized in that the dish material Temperature Distribution Situation is to carry out the uniformity coefficient of reaction temperature profile with the standard deviation SD of image,Wherein x_iFor ith pixel The temperature value of point,For the temperature averages of whole region, n is the temperature value sum of whole region.

7. a kind of intelligent machine for stir-frying dishes based on image monitoring as claimed in claim 5, which is characterized in that the dish material distribution situation It is the uniformity that dish material is reacted with angle direction second-order matrix ASM and entropy ENT, ASM=∑_i[PΔ(i)]²、ENT=-∑_IPΔ (i) lgP Δs (i), wherein P Δs (i) are the grey scale difference probability of ith pixel point.

8. a kind of intelligent machine for stir-frying dishes based on image monitoring regulates and controls method, which is characterized in that include the following steps：

Step 1), when dish material is put into pot, agitating device (3) carries out frying to dish material in pot；

Step 2), when frying starts, infreared imaging device 5 carries out dish material in pot the acquisition of infrared chart；

Step 3), image data processing module 2 are handled the dish material infrared chart of reception to obtain the temperature profile of dish material, And judged, when temperature profile is unevenly distributed, starting step 4), when temperature profile is evenly distributed, start step It is rapid 5)；

Step 4), regulation and control array applicator device (4), return to step 2)；

Step 5), image data processing module (2) are handled the dish material infrared chart of reception to obtain the distribution situation of dish material, And judged, when dish material is unevenly distributed, starting step 6), when dish material is evenly distributed, starting step 7)；

Step 6) regulates and controls the stir speed (S.S.) of cooking machine, return to step 2 by agitating device (3))；

Step 7) judges the maturity of dish, when dish material does not have ripe, return to step 1) and, when dish material is ripe, dish delivery is complete At.