CN108445793A - A kind of intelligent machine for stir-frying dishes and its regulation and control method based on image monitoring - Google Patents
A kind of intelligent machine for stir-frying dishes and its regulation and control method based on image monitoring Download PDFInfo
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- CN108445793A CN108445793A CN201810109266.8A CN201810109266A CN108445793A CN 108445793 A CN108445793 A CN 108445793A CN 201810109266 A CN201810109266 A CN 201810109266A CN 108445793 A CN108445793 A CN 108445793A
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- dish material
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/004—Cooking-vessels with integral electrical heating means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/27—Control of temperature characterised by the use of electric means with sensing element responsive to radiation
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
Technical field
The invention belongs to cooking machine control technology fields, and in particular to a kind of intelligent machine for stir-frying dishes based on image monitoring and its
Regulation and control method.
Background technology
With the progress of modern science and technology, the improvement of people's living standards, intelligent machine for stir-frying dishes has begun to enter people
Life.But present cooking machine is limited to by technology, dish material stirring unevenness, the duration and degree of heating are difficult to control during cooking, make
Dish quality difficulty such as people's will.Chinese patent (CN104840094A) disclose a kind of temperature controlled food cooking device of band and
Cooking method, by bottom of pot body sandwich establishment, setting heating in interlayer, cooling duct control the temperature of frying pan.China
Patent (CN204813310U) discloses a kind of large-scale intelligent pannikin continuous vegetable stir-frying machine equipment, realizes matching for high-volume vegetable
Dish, cooking, cleaning mechanical automation.The above patent only controls the temperature of pot body, sets fixed stir on the whole
Rate is mixed, and cannot accomplish to acquire the profiling temperatures of the distribution of dish material and dish material in pot comprehensively, dish material in pot cannot be reached
Visualizing monitor.
Invention content
For problems of the prior art, the purpose of the present invention is to provide one kind can monitoring image and temperature in pot
Distribution situation solves cooking in the process since vegetables are distributed come the method for realizing targetedly temperature regulation and control, control vegetable stirring
Unevenness, dish maturity is different caused by uneven heating, poor quality problem.
To achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of intelligent machine for stir-frying dishes based on image monitoring, including it is pot cover, image data processing module, agitating device, infrared
Imaging device, pot body, array applicator device, pot cover Built-in Image data processing module, image data processing module can receive and place
The information of infreared imaging device acquisition to be managed, and sends out regulation and control instruction, infreared imaging device is fixed by the bracket in pot body side, and
And the holder is rotatable that the camera lens of infreared imaging device is made to be located at right over pot body, agitating device is solid by link and transmission shaft
It is scheduled on pot cover homonymy, array applicator device is located at immediately below pot body, and image data processing module is realized by external wire to array
The control of heater and infreared imaging device.
In said program, the infreared imaging device includes thermal camera, thermopile array sensor and image switching
Module, the infra-red radiation of infrared camera scan dish material, while the temperature data of thermopile array sensor acquisition dish material, image
Infra-red radiation is converted to electric signal by handover module, and is sent to micro computer.
In said program, the array applicator device can be flame array burner, can also be electromagnetic array heater.
In said program, the agitating device is flat stirring rod, transmission shaft and motor form by front end.
In said program, described image data processing module can receive the information with processing infreared imaging device acquisition, tool
Body includes the distribution of dish material and dish material profiling temperatures.
In said program, the dish material profiling temperatures are to carry out the uniform of reaction temperature profile with the standard deviation SD of image
Degree,Wherein：xiFor the temperature value of ith pixel point,For the temperature averages of whole region, n is whole
The temperature value sum in a region.
In said program, the dish material distribution situation is to react dish material with angle direction second-order matrix ASM and entropy ENT
The uniformity, ASM=∑i[PΔ(i)]2、ENT=-∑IP Δs (i) lgP Δs (i), wherein P Δs (i) are the gray scale difference of ith pixel point
Divide probability.
A kind of intelligent machine for stir-frying dishes regulation and control method based on image monitoring, includes the following steps：
Step 1), when dish material is put into pot, agitating device carries out frying to dish material in pot；
Step 2), when frying starts, infreared imaging device carries out dish material in pot the acquisition of infrared chart；
Step 3), image data processing module are handled the dish material infrared chart of reception to obtain the Temperature Distribution of dish material
Figure, and judged, when temperature profile is unevenly distributed, starting step 4), when temperature profile is evenly distributed, start
Step 5)；
Step 4) regulates and controls array applicator device, return to step 2)；
Step 5), image data processing module are handled the dish material infrared chart of reception to obtain the distribution feelings of dish material
Condition, 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)；
Step 7) judges the maturity of dish, when dish material does not have ripe, return to step 1), when dish material is ripe, dish delivery
It completes.
The beneficial effects of the invention are as follows：By image data processing technique to during cooking machine cooking dish material be distributed with
And the Temperature Distribution of dish material is monitored, and is recycled array applicator technology to realize the control to the duration and degree of heating during cooking, is reached intelligence
The purpose of energy cooking.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of image monitoring regulation and control intelligent machine for stir-frying dishes provided in an embodiment of the present invention；
Fig. 2 is provided in an embodiment of the present invention one process chart for planting vegetables material temperature degree figure；
Fig. 3 be provided in an embodiment of the present invention one plant vegetables material distribution map process chart；
Fig. 4 is a kind of regulation and control flow chart of image monitoring regulation and control intelligent machine for stir-frying dishes provided in an embodiment of the present invention.
Wherein, 1- pot covers, 2- image data processing modules, 3- agitating devices, 4- array applicator devices, 5- infrared imagings dress
It sets, 6- pot bodys.
Specific implementation mode
In order to preferably explain the present invention, the present invention is further solved below in conjunction with related embodiment attached drawing
It releases.The embodiment of the present invention is given in attached drawing, but the present invention is not limited in above-mentioned preferred embodiment.On the contrary, providing this
The purpose of a little embodiments is to keep disclosure of the invention face more abundant.
Fig. 1 is structural schematic diagram provided in an embodiment of the present invention, which includes pot cover 1, image real time transfer
Module 2, agitating device 3, infreared imaging device 5, pot body 6, array applicator device 4,1 Built-in Image data processing module 2 of pot cover, figure
As the information that data processing module 2 can receive and processing infreared imaging device 5 acquires, and regulation and control instruction is sent out, infrared imaging dress
5 are set to be fixed by the bracket in 6 side of pot body, and the holder it is rotatable make the camera lens of infreared imaging device 5 be located at pot body 6 just on
Side, agitating device 3 are fixed on 1 homonymy of pot cover by link and transmission shaft, and array applicator device 4 is located at immediately below pot body 6, image
Data processing module 2 realizes the control to array heater 4 and infreared imaging device 5 by external wire.
Infreared imaging device 5 includes thermal camera, thermopile array sensor and image handover module, due to dish in pot
The material all ability with automatic emitting infrared radiation, the infra-red radiation of infrared camera scan dish material, while thermopile array pass
Sensor acquires the temperature data of dish material, and infra-red radiation is converted to electric signal by image handover module, and is sent to micro computer, micro- electricity
Brain carries out image real time transfer to the electric signal and forms thermal map.
The temperature of cooking is controlled using array applicator device 4, array applicator device 4 can be flame array burner, can also
It is electromagnetic array heater.Temperature is controlled using flame array burner：Flame array burner includes that several height differ
Micro-nozzle, fuel-air mixed allocation chamber, the gas flow controller of array arrangement, it is whole that array micro spray mouth outlet forms pot body
Curved surface, array micro spray mouth passes through fuel-air mixed allocation chamber, fuel-air mixed allocation chamber be equipped with controllable fuel and
The gas flow controller of air circulation, gas flow controller receive the regulation and control of the instruction progress gas flow of computer.Using electromagnetic array
Heater control temperature：Electromagnetic array heater is made of a few heating coils, and coil is arranged along the shape spiral of pot body
Row, high-frequency current generate alternating magnetic field by heating coil, and alternating magnetic field generates vortex to realize heating by metal pan
Effect, the size by controlling high-frequency current carry out the regulation and control of pot body heating.
Agitating device 3 is flat stirring rod, transmission shaft and a motor form by a front end, and transmission shaft utilizes
Bearing realizes the one-directional rotation of stirring rod, stir-fries to dish material in pot, and the size by controlling electric current makes motor pass through to turn
Moving axis regulates and controls the stir speed (S.S.) of stirring rod.
Image data processing module 2 carries out background process, profit to the dish material infrared chart that infreared imaging device 5 obtains first
Background is removed with Threshold segmentation, the temperature value of dish material in pot is secondly obtained using pixel as unit thermopile array sensor, is utilized
Image data processing module 2 handles the thermal map of dish material in pot with temperature value, obtains the pseudocolour picture of Temperature Distribution, again
The distribution situation for analyzing to obtain dish material in pot using grey scale difference statistic law to the thermal map of acquisition, finally according to dish material thermal map in pot
With the heating state of the pseudocolour picture regulation and control array applicator device 4 of Temperature Distribution and the stir speed (S.S.) of cooking machine.
As shown in Fig. 2, the method for being handled to obtain dish material profiling temperatures in pot to the infrared chart of acquisition is：It is real
Step 21 is applied, background process is carried out to the dish material infrared chart of acquisition, background is removed using Threshold segmentation；Implementation steps
22, gained thermal map is established into heat map data matrix as unit of pixel and carries out principal component analysis, obtains 1 dimension of principal component image
Image；Since the value of each pixel is between [0225], implementation steps 23 are normalized heat map data matrix, make thermal map
Pixel substantial scope new matrix is formed between [01]；Using new matrix as the input matrix of identification model, implement
Step 24, the dish material temperature angle value of acquisition is converted to 2 dimension Temperature Distribution matrixes using binary conversion treatment；Implementation steps 25, then into
Row normalized makes the value of thermal map pixel between [0255], obtains Temperature Distribution gray-scale map；Implementation steps 26, will
To the tonal range of Temperature Distribution gray-scale map be divided into 64 grey levels, assign each grey level to a kind of color,
The pseudocolour picture of dish material Temperature Distribution is obtained, Halcon image processing softwares carry out data processing to obtained pseudocolour picture and obtain
With the uniformity coefficient of standard deviation (SD) reaction temperature profile of image, SD is bigger, and Temperature Distribution is more uneven, and specific formula is such as
Under：
Wherein：xiFor the temperature value of ith pixel point,For the temperature averages of whole region, n is the temperature of whole region
Angle value sum.
The instruction of 2 receiving step 26 of image data processing module, implementation steps 27 start array applicator device 4, make dish in pot
Material is heated evenly；The instruction of 2 receiving step 26 of image data processing module, implementation steps 28 stop to array heater 4
Regulation and control keep dish material in pot to be heated evenly.
As shown in figure 3, the method for being handled to obtain dish material distribution situation in pot to the infrared chart of acquisition is：It presses first
According to step 31, background process is carried out to the dish material infrared image of acquisition, background is removed using Threshold segmentation；Implementation steps
32, grey scale difference statistic law analysis is carried out using Halcon image processing softwares to the dish material infrared chart of acquisition, is reacted
The judgment criteria of dish material distribution consistency degree：The value of angle direction second-order matrix (ASM) and entropy (ENT), when grey scale difference value
When probability P Δ (i) ＜ 0.6, ASM ＜ 1.84, ENT >=0.14, the distribution of dish material is more uniform；Specific formula is as follows：
ASM=∑si[PΔ(i)]2 (2)
Wherein：P Δs (i) are the grey scale difference probability of ith pixel point；
ENT=- ∑slPΔ(i)lgPΔ(i) (3)
The instruction of 2 receiving step 32 of image data processing module, implementation steps 33 start the agitating device of cooking machine, make
Dish material is more evenly distributed in pot；The instruction of 2 receiving step 32 of image data processing module, implementation steps 34 stop to cooking machine
The regulation and control of agitating device, keep pot in stir speed (S.S.) it is constant, so that dish material is evenly distributed.
Regulate and control the degree of heat of array applicator device 4 and the stirring of cooking machine according to the distribution situation of kettle temperature and dish material
The method of rate is as follows：The distribution situation of dish material temperature degree in pot is judged first, when standard deviation SD >=0.083 of image
When, temperature distribution is non-uniform, needs the degree of heat of array applicator device 4, into new cycle；As the standard deviation SD of image
When ＜ 0.083, uniformity of temperature profile needs to judge dish material distribution situation in pot, as ASM >=1.84 or ENT ＜ 0.14
When, dish material is unevenly distributed, and the stir speed (S.S.) for accelerating cooking machine is needed, into new cycle；When ASM ＜ 1.84 simultaneously ENT >=
When 0.14, dish material is evenly distributed, and keeps current operating condition to continue to run with until cooking is completed.
Fig. 4 is flow chart provided in an embodiment of the present invention, and the method is for dish material during judging cooking in pot
It is evenly distributed and kettle temperature distribution situation, the stir speed (S.S.) for regulating and controlling intelligent machine for stir-frying dishes and kettle temperature situation, tool
Body includes：
Step 11, when dish material is put into pot, start agitating device 3 and frying is carried out to dish material in pot；
After frying starts, starting step 12 carries out dish material in pot the acquisition of infrared chart；
Step 13, image data processing module 2 is handled the dish material infrared chart of reception to obtain the temperature point of dish material
Butut；
To step 13, treated that temperature profile judges, when temperature profile is unevenly distributed, starting step
14, regulation and control array applicator device 4, into new cycle；When temperature profile is evenly distributed, starting step 15 divides dish material
Cloth situation is judged, when dish material is unevenly distributed, starting step 16 regulates and controls the stir speed (S.S.) of cooking machine, is followed into new
Ring；When dish material is evenly distributed, starting step 17 judges the maturity of dish, and when dish material does not have ripe, starting step 18 enters
New cycle continues frying；When dish material is ripe, starting step 19, dish delivery is completed.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described 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 xiFor 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.
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| CN201810109266.8A CN108445793A (en) | 2018-02-05 | 2018-02-05 | A kind of intelligent machine for stir-frying dishes and its regulation and control method based on image monitoring |
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| CN109998360A (en) * | 2019-04-11 | 2019-07-12 | 上海长膳智能科技有限公司 | A kind of method and apparatus for automatic cooking food |
| CN110018656A (en) * | 2019-04-04 | 2019-07-16 | 黄山学院 | A kind of intelligent cooking control system and control method having thermal image |
| CN110262581A (en) * | 2019-06-26 | 2019-09-20 | 珠海格力电器股份有限公司 | A kind of cooking appliance and its control method loading temperature-sensing color-changing material |
| CN111839180A (en) * | 2020-07-07 | 2020-10-30 | 胡飞青 | Intelligent wheel-by-wheel operation opportunity identification platform |
| CN113110244A (en) * | 2021-05-17 | 2021-07-13 | 广东机电职业技术学院 | Intelligent cooking recorder and control system and method thereof |
| CN113974420A (en) * | 2021-10-29 | 2022-01-28 | 添可智能科技有限公司 | Intelligent cooking equipment control method and intelligent cooking equipment |
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| CN113974420A (en) * | 2021-10-29 | 2022-01-28 | 添可智能科技有限公司 | Intelligent cooking equipment control method and intelligent cooking equipment |
| CN113974420B (en) * | 2021-10-29 | 2023-02-17 | 添可智能科技有限公司 | Intelligent cooking equipment control method and intelligent cooking equipment |
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