CN111728467A

CN111728467A - Intelligent kitchen cooking system

Info

Publication number: CN111728467A
Application number: CN202010531387.9A
Authority: CN
Inventors: 李华军; 赵绍云; 余善恩; 杨文东
Original assignee: Hangzhou Dianzi University
Current assignee: Hangzhou Dianzi University
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2020-10-02

Abstract

The invention relates to an intelligent kitchen cooking system. The invention adopts a mechanical arm structure, and can realize various different operation and cooking modes by independently replacing the front end part of the mechanical arm, wherein the operation modes comprise food material clamping, container moving, seasoning adding and the like, and the cooking modes comprise quick-frying, stirring and frying. Greatly expands the diversity of cooking dishes. The condiment dispenser is used for blending condiment of dishes, and the mechanical arm is placed into the pot for seasoning, so that the working complexity and the redundant steps of the mechanical arm can be effectively reduced, the cooking process flow and the system complexity are simplified, the condiment configuration proportion can be accurately controlled, and the taste of the dishes is guaranteed. The method has the advantages that the user-defined cooking process, the online network downloading process and the system intelligent selection cooking process are realized, the menu of the cooking system is greatly expanded, the user-defined cooking process is supported, the Internet sharing advantage is utilized, and the family daily diet requirements are fully met.

Description

Intelligent kitchen cooking system

Technical Field

The invention belongs to the technical field of intelligent machine equipment, and relates to an intelligent kitchen cooking system.

Background

With the rapid development of social modernization, people living in the current society are occupied by busy work, and the rest time is continuously squeezed, so that the preparation of a delicious dinner at home becomes a luxury. Meanwhile, the requirements of people on healthy diet are continuously improved, and the key problem is how to accurately control the nutrient content, the oil content and the salt content in the household dishes. In this case, the automatic cooking system is in operation. Particularly, with the development of advanced control mode, big data processing, image processing and other advanced technologies, the automatic cooking system can effectively meet the daily diet requirements of families, greatly ensures the quality of family life, improves the physical quality of the nation, and has important social benefits and commercial application value.

However, the existing cooking system has single function, simple design and rough cooking flow, is generally used for the production of streamlined foods in catering industry and the like, and cannot meet the daily requirements of families on taste, nutrition and the like. In order to break through the industry predicament, the technology such as internet big data, robot technology, deep learning need be combined, complicated culinary art flow is decomposed into the step that the machine can replace, and after the user confirms the dish, can realize automatically that download menu, intelligent culinary art, tray-loading go out the overall process such as meal, can also satisfy complicated various traditional culinary art requirement in china simultaneously.

Disclosure of Invention

The invention aims to provide an intelligent kitchen cooking system which can formulate and cook a menu according to internet data, user customization and food materials, can accurately control the quality of dishes and meet the daily diet requirements of common families.

The invention comprises a mechanical arm, a plurality of cooking utensils, a food material box, a pot body, an operation table, a control system and a condiment dispenser; the mechanical arm, the various cooking utensils, the food material box, the pot body, the control system and the flavoring device are all arranged on the operating table; the mechanical arm is used for automatically replacing cooking utensils, clamping food material boxes and flavoring devices, and different cooking and operation are realized; the pot body is positioned below the mechanical arm and used for heating and rotating food materials in the cooking process; the food box is used for containing cooking food materials, and a plurality of food boxes are arranged according to different types and are separately used for containing food materials. The control system is electrically connected with the mechanical arm, the pot body and the flavoring device and is used for controlling the movement of the mechanical arm, replacing the cooking utensil, controlling the rotation and heating of the pot body and adjusting the proportion of each flavoring in the flavoring device. Meanwhile, the control system can also realize the man-machine interaction between the system and a user, and acquire food material type information, cooking recipes and cooking flow information.

The control system comprises a general STM32 control chip, a WIFI module, a touch display, a driving power supply, an external memory, a motor driving circuit, a current conversion chip GP8102 and a heating driving circuit. The driving power supply is used for supplying power to other modules/circuits; WIFI module, touch display, external memory pass through the bus with STM32 and link to each other. The STM32 control chip is used for processing data, accessing information, generating PWM control signals and generating timing signals. The touch display is used for completing human-computer interaction and providing a human-computer interaction screen and keys. And the WIFI module is used for downloading and uploading network information. The external memory is used for accessing the menu program and other information. The current conversion chip GP8102 is used for converting the PWM signal into a standard 4-20 mA control signal and controlling the opening of a micro control valve in the seasoning device. The heating driving circuit is used for converting the PWM control signal into a specific high-power output to control the heating power of the heating wire in the pot body.

The mechanical arm is a five-degree-of-freedom mechanical arm and comprises a base, a first arm rod, a second arm rod, a third arm rod, a fourth arm rod and a servo motor set; the first arm rod, the second arm rod, the third arm rod and the fourth arm rod are sequentially connected and then fixed on the wall through the first arm rod and the base, and the tail end of the fourth arm rod is a working end for replacing cooking utensils, clamping food material boxes and a condiment dispenser; the third arm rod is internally provided with a steering engine, servo motor sets are arranged in the base, the first arm rod and the second arm rod, a control system outputs pulse signals to motors at different positions in the servo motor sets, the rotation angle of the motors is adjusted, the third arm rod is controlled to reach a specified position, and meanwhile, the fourth arm rod is controlled to rotate in a small amplitude by adjusting the steering engine internally arranged in the third arm rod, so that a specified operation process is completed.

The pot body comprises a motor gear, a servo motor, a bearing ball, a heating wire, a pot and a pot body base. The pan is arranged in the middle of the pan body base, and a pan opening gear is arranged on the periphery of the pan; the motor gear is arranged on the pan body base and meshed with the pan opening gear, and the motor gear is connected with the servo motor; a bearing ball is arranged between the base of the pot body and the pot; a heating electric wire is arranged below the pot inside the pot body base; the control system controls the input power of the heating electric wire and controls the temperature inside the cooker. The control system sends out adjustable frequency square waves to control the rotating speed of the servo motor and the rotation of the pot.

The condiment dispenser comprises a plurality of condiment tanks, a conveying pipeline, a micro electric valve and a condiment box. One end of the conveying pipeline is respectively connected with the discharge port at the bottom of each seasoning tank, and the other end of the conveying pipeline is communicated with the seasoning box; and a discharge hole at the bottom of each seasoning tank is provided with a micro electric valve. The control system outputs control signals to respectively control the opening and closing time of the micro electric valves of different seasoning cans to finish seasoning.

Furthermore, permanent magnets are arranged at specific positions in the cooking utensil, the food material box and the condiment dispenser.

Furthermore, fourth armed lever work end include structure shell, solenoid, armature, fixed baffle, armature passes through fixed baffle to be fixed in structure shell, the armature surface sets up solenoid for change culinary art kitchen utensils and appliances, press from both sides and get edible material box and seasoning box.

The intelligent cooking system using the device is used for cooking, and the specific implementation mode comprises the following steps:

step one, a user cleans the dishes and food materials and places the dishes and the food materials in a food material box, and a cooking process is determined in a touch display, wherein the cooking process comprises cooking kitchenware required to be used in each step and preset cooking time.

Step two, the control system controls the working end of the mechanical arm to grab the food box according to the cooking process selected by the touch display, and the food box is put back to the original position after the food is put into the pot body; the working end of the mechanical arm grabs the kitchen ware to be cooked, the control system controls the pot body to heat and rotate, and meanwhile, the micro electric valve in the condiment dispenser is controlled to prepare the condiment;

thirdly, frying and stirring food materials by using a cooking kitchen tool at the working end of the mechanical arm, and controlling the pot body to heat the food materials to a preset cooking time by using a control system; the working end of the mechanical arm puts the cooking utensil back to the original position;

fourthly, the working end of the mechanical arm grabs a seasoning box and puts the mixed seasonings into the pot body for seasoning; after the mechanical arm working end returns the seasoning box to the original position, the mechanical arm working end grabs the cooking utensil to be cooked and stirs the cooking utensil again, and the control system controls the pot body to heat the food material to the preset cooking time;

step five, after cooking is finished, the working end of the mechanical arm takes the dishes out of the pot and plates the dishes through the corresponding cooking kitchenware;

and sixthly, resetting the control system, the mechanical arm, the pot position and the flavoring device.

The control system controls the working end of the mechanical arm to be above each permanent magnet, controls the electromagnetic coil to be electrified, enables the armature to generate magnetism, and absorbs the permanent magnet to be fixed in the square clamping groove. After the cooking operation is executed, the control system controls the mechanical arm to be above the original position of the permanent magnet, the electromagnetic coil is controlled to be electrified reversely, the armature iron generates reverse magnetism, the permanent magnet is pushed to leave the clamping groove, the permanent magnet is released to the original position, and the installation and the disassembly of various cooking kitchenware, food material boxes and seasoning boxes are completed.

The invention adopts a mechanical arm structure, and can realize various different operation and cooking modes by independently replacing the front end part of the mechanical arm, wherein the operation modes comprise food material clamping, container moving, seasoning adding and the like, and the cooking modes comprise quick-frying, stirring and frying. Greatly expands the diversity of cooking dishes. The condiment dispenser is used for blending condiment of dishes, and the mechanical arm is placed into the pot for seasoning, so that the working complexity and the redundant steps of the mechanical arm can be effectively reduced, the cooking process flow and the system complexity are simplified, the condiment configuration proportion can be accurately controlled, and the taste of the dishes is guaranteed. The method has the advantages that the user-defined cooking process, the online network downloading process and the system intelligent selection cooking process are realized, the menu of the cooking system is greatly expanded, the user-defined cooking process is supported, the Internet sharing advantage is utilized, and the family daily diet requirements are fully met.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the robot and cooking utensil of FIG. 1;

FIG. 3 is a schematic view of the working end of the robot arm;

FIG. 4 is a schematic view of the structure of the pot body in FIG. 1;

FIG. 5 is a schematic view of the structure of the seasoning device of FIG. 1;

fig. 6 is a schematic diagram of the operation of the control system of the present invention.

Detailed Description

The following detailed description of the present invention will be described with reference to the accompanying drawings and examples, which are only preferred embodiments of the present invention and are not to be considered as limiting the scope of the present invention, and all equivalent changes and modifications made within the scope of the present invention shall fall within the scope covered by the present patent.

As shown in fig. 1, an intelligent kitchen cooking system comprises a mechanical arm 1, a cooking utensil 2, a food material box 3, a pot body 4, an operation table 5, a control system 7 and a condiment dispenser 8. The mechanical arm 1, the cooking utensil 2, the food material box 3, the pot body 4, the control system 7 and the flavoring device 8 are all arranged on the operating table 5; the fixed end of the mechanical arm 1 is fixed on the side wall 6 of the operating platform, and the working end is arranged above the pot body 4 and used for independently replacing the cooking kitchenware 2, clamping the food material box 3 and the condiment dispenser 8, so that different cooking and operating functions are realized. The pot body 4 is positioned below the mechanical arm 1, and heating and rotating functions of food materials are realized in the cooking process. The food material boxes 3 are used for containing cooking food materials, and a plurality of food material boxes 3 are arranged according to different types and are separately used for containing food materials. A condiment dispenser 8 and a cooking utensil 2 are arranged in the working range of the mechanical arm; the control system 7 is electrically connected with the mechanical arm 1, the pot body 4 and the condiment dispenser 8 and is used for controlling the movement of the mechanical arm 1, replacing the cooking utensil 2, controlling the rotation and heating of the pot body 4 and adjusting the proportion of each condiment in the condiment dispenser 8. Meanwhile, the control system 7 can also realize the man-machine interaction between the system and the user, and acquire information such as food material type information, cooking recipes, cooking flows and the like.

As shown in FIG. 2, the invention adopts a five-degree-of-freedom mechanical arm 1, and can move to any position of a peripheral three-dimensional space. The working end of the mechanical arm 1 is a square clamping groove, and the specific structure comprises a base 101, a first arm lever 102, a second arm lever 103, a third arm lever 104, a fourth arm lever 105 and a servo motor set 106. The cooking utensil comprises a Chinese style slice 201, a spoon 202, a stirring rod 203 and a flat slice 204, and a permanent magnet 205 is arranged at the tail end of each cooking utensil. In a specific implementation process, the control system 7 outputs pulse signals to motors at different positions in the servo motor set 106, adjusts the rotation angle of the motors, controls the third arm lever 104 to reach a specified position, and controls the fourth arm lever 105 to rotate in a small amplitude by adjusting a steering engine arranged in the third arm lever 104, so that a specified operation process is completed.

As shown in fig. 3, the end of the fourth arm 105 is a square slot, and includes a structural housing 1051, an electromagnetic coil 1052, an armature 1053, and a fixed partition 1054, for replacing the cooking utensil 2, clamping the food material box 3, and the condiment dispenser 9. Taking the Chinese spatula 201 of the cooking utensil 2 as an example, in the specific implementation process, the control system 7 controls the fourth arm rod 105 of the mechanical arm 1 to be above the position of the Chinese spatula 201, controls the electromagnetic coil 1052 to be electrified, enables the armature 1053 to generate magnetism, and sucks the permanent magnet 205 on the top of the Chinese spatula 201 to be fixed in the groove of the fourth arm rod 105. After the cooking operation is executed, the control system 7 controls the mechanical arm to be located above the original position of the Chinese turner 201, the electromagnetic coil 1052 is controlled to be electrified reversely, the armature 1053 generates reverse magnetism, the permanent magnet 205 is pushed to leave the clamping groove, the Chinese turner 201 is released to the original position, and the Chinese turner 201 is installed and detached. The tail end of the Chinese pancake turner is provided with a permanent magnet, and the tail end of the Chinese pancake turner is hung on a wall; permanent magnets are arranged at the top ends of the food material box and the seasoning box; the specific steps of controlling the mechanical arm to replace other cooking utensils 2, and clamping the food material box 3 and the condiment dispenser 9 are similar to the steps described above. The mechanical arm can realize different cooking operations such as stir-frying, stirring and the like by replacing the functional part at the front end of the fourth arm rod, can also clamp food materials and put in seasoning and other functional operations, has larger function expansibility in the actual cooking process, and can adapt to complex cooking requirements.

As shown in fig. 4, the pan body 4 includes a motor gear 401, a servo motor 402, a bearing ball 403, a heating wire 404, a pan 405, and a pan body base 407. A pan opening gear 406 is embedded on the periphery of the pan 405, and the motor gear 401 is connected with a servo motor. As shown in the partially enlarged view of fig. 4, the motor gear 401 is engaged with the pan opening gear 406, and when the servo motor 402 rotates, the pan opening gear 406 is driven by the motor gear 401, so that the pan 405 rotates. The bearing ball 403 is located between the pan body base 407 and the pan 405, and plays a role in bearing and reducing friction. The heating electric wire 404 is positioned inside the pot body base 407 and plays a role of heating the pot 405. In the specific implementation, the control system 7 controls the input power of the heating wire 404, so as to control the internal temperature of the pot 405 to a specified value. Meanwhile, the control system 7 sends out adjustable frequency square waves to control the rotating speed of the servo motor, so that the rotation of the pot 405 is controlled. The control system controls the input power of the heating wire and the rotating speed of the servo motor, and in the actual cooking process, the method can accurately control the cooking temperature, fully heat food materials and ensure the taste of dishes.

As shown in fig. 5, the seasoning container 8 of the present invention includes a salt tank 901, an oil tank 902, a sugar tank 903, a delivery pipe 904, a micro-motor valve 905, and a seasoning box 907. One end of the delivery pipe 904 is connected with the bottom discharge hole of each seasoning tank, and the other end is communicated with the seasoning box 907. The permanent magnet 205 is fixed at the top end of the seasoning box, so that the mechanical arm 1 can grab the seasoning box conveniently. In the specific cooking process, the control system 7 outputs control signals to respectively control the opening and closing time of the micro electric valves 905 of different seasoning tanks, the seasoning flowing into the seasoning box 907 is calculated according to the preset flow rate, and then the mechanical arm 1 grabs and puts the seasoning into dishes. Mix the condiment earlier and snatch by the arm and put into the pot again, can effectively reduce arm work complexity and redundant step, simplify culinary art process flow and system complexity, can also accurate control condiment configuration proportion, guarantee the taste of dish. Meanwhile, the condiment dispenser can increase the quantity of the condiment tanks and adjust the adding sequence of the condiments according to the requirement of the condiments in the later period.

As shown in fig. 6, the control system 7 includes a general STM32 control chip, a WIFI module, a touch display, a driving power supply, an external memory, a motor driving circuit, a current conversion chip GP8102, and a heating driving circuit. The driving power supply is used for supplying power to other modules/circuits; WIFI module, touch display, external memory pass through the bus with STM32 and link to each other. The STM32 control chip is used for processing data, accessing information, generating PWM control signals and generating timing signals. The touch display is used for completing human-computer interaction and providing a human-computer interaction screen and keys. And the WIFI module is used for downloading and uploading network information. The external memory is used for accessing the menu program and other information. The current conversion chip GP8102 is used for converting the PWM signal into a standard 4-20 mA control signal for controlling the opening of the micro control valve 905 in the seasoning device 8. The heating driving circuit is used for converting the PWM control signal into a specific high-power output to control the heating power of the heating wire 404 in the pot body 4. In the specific implementation process, the control system 7 mainly realizes the following functions: 1) human-computer interaction is completed through a touch display, and functions of food material information input, cooking process selection, cooking process self-definition and the like are realized; 2) the cooking process information is downloaded and uploaded through the WIFI module, network information sharing is achieved, and the information is stored in an external memory; 3) the STM32 outputs PWM wave signals, and after the PWM wave signals are converted by the electrode driving circuit, the servo motor set 106 in the mechanical arm 1 is controlled, so that the mechanical arm 1 is controlled to move, the cooking kitchenware 2 is replaced, and the food material box 3 and the seasoning box 907 are grabbed; 4) outputting a PWM wave signal, controlling the movement of the servo motor 402 after being converted by the electrode driving circuit, and rotating the pot 405; 5) and outputting a PWM wave signal, converting the PWM wave signal into standard 4-20 mA standard current by a GP8102 control chip, and controlling the opening and the switching time of a micro valve 905 in the flavoring device 9.

step one, a user cleans the dishes and the foods are placed in the food box 3, and a cooking process is determined in the control system 7.

Step two, the control system 7 controls the mechanical arm 1 to replace the cooking utensil 2 according to the cooking process, and picks food materials and places the food materials into the pot body 4; controlling the heating and the rotation of the pan body 4; controlling a flavoring device 9 to prepare a flavoring;

thirdly, stir-frying and stirring the food materials by the mechanical arm 1, and heating the food materials by the pot body 4 for a preset time;

fifthly, the mechanical arm 1 grabs the seasoning and puts the seasoning into the pot body 4 for seasoning

Step six, after cooking, the mechanical arm 1 takes the dishes out of the pot and plates the dishes;

and seventhly, resetting the control system 7, the mechanical arm 1, the pot position 4, the flavoring device 9 and the like.

The intelligent cooking system has the advantages that the overall design scheme is designed according to a kitchen, the expansibility is strong, the functions are comprehensive, most of recipes are compatible, and the daily cooking requirements and the nutritional requirements of families are met.

Claims

1. An intelligent kitchen cooking system comprises a mechanical arm, a plurality of cooking kitchenware, a food material box, a pot body, an operating platform, a control system and a condiment dispenser; the method is characterized in that: the mechanical arm, the various cooking utensils, the food material box, the pot body, the control system and the flavoring device are all arranged on the operating table; the mechanical arm is used for automatically replacing cooking utensils and clamping food material boxes and the flavoring device, so that different cooking and operation are realized; the pot body is positioned below the mechanical arm and used for heating and rotating food materials in the cooking process; the food box is used for containing cooking food materials, and a plurality of food boxes are arranged according to different types to separately contain food materials; the control system is electrically connected with the mechanical arm, the pot body and the flavoring device and is used for controlling the movement of the mechanical arm, replacing the cooking utensil, controlling the rotation and heating of the pot body and adjusting the proportion of each flavoring in the flavoring device; meanwhile, the control system can also realize the man-machine interaction between the system and a user to acquire food material type information, cooking recipes and cooking process information;

the control system comprises a general STM32 control chip, a WIFI module, a touch display, a driving power supply, an external memory, a motor driving circuit, a current conversion chip GP8102 and a heating driving circuit; the driving power supply is used for supplying power to other modules/circuits; the WIFI module is used for touching the display, and the external memory is connected with the STM32 through a bus; the STM32 control chip is used for processing data, accessing information, generating PWM control signals and generating timing signals; the touch display is used for completing human-computer interaction and providing a human-computer interaction screen and keys; the WIFI module is used for downloading and uploading network information; the external memory is used for accessing menu programs and other information; the current conversion chip GP8102 is used for converting the PWM signal into a standard 4-20 mA control signal and controlling the opening of a micro control valve in the flavoring device; the heating driving circuit is used for converting the PWM control signal into a specific high-power output to control the heating power of the heating wire in the pot body;

the mechanical arm is a five-degree-of-freedom mechanical arm and comprises a base, a first arm rod, a second arm rod, a third arm rod, a fourth arm rod and a servo motor set; the first arm rod, the second arm rod, the third arm rod and the fourth arm rod are sequentially connected and then fixed on the wall through the first arm rod and the base, and the tail end of the fourth arm rod is a working end for replacing cooking utensils, clamping food material boxes and a condiment dispenser; a steering engine is arranged in the third arm rod, servo motor sets are arranged in the base, the first arm rod and the second arm rod, a control system outputs pulse signals to motors at different positions in the servo motor sets, the rotation angle of the motors is adjusted, the third arm rod is controlled to reach a specified position, and meanwhile, the steering engine arranged in the third arm rod is adjusted to control the fourth arm rod to rotate in a small amplitude manner, so that a specified operation process is completed;

the pot body comprises a motor gear, a servo motor, a bearing ball, a heating wire, a pot and a pot body base; the pan is arranged in the middle of the pan body base, and a pan opening gear is arranged on the periphery of the pan; the motor gear is arranged on the pan body base and meshed with the pan opening gear, and the motor gear is connected with the servo motor; a bearing ball is arranged between the base of the pot body and the pot; a heating electric wire is arranged below the pot inside the pot body base; the control system controls the input power of the heating electric wire and controls the temperature in the cooker; the control system sends out frequency-adjustable square waves to control the rotating speed of the servo motor and the rotation of the pot;

the condiment dispenser comprises a plurality of condiment tanks, a conveying pipeline, a micro electric valve and a condiment box; one end of the conveying pipeline is respectively connected with the discharge port at the bottom of each seasoning tank, and the other end of the conveying pipeline is communicated with the seasoning box; a discharge hole at the bottom of each seasoning tank is provided with a micro electric valve; the control system outputs control signals to respectively control the opening and closing time of the micro electric valves of different seasoning cans to finish seasoning.

2. The intelligent kitchen cooking system of claim 1, wherein: permanent magnets are arranged at specific positions in the cooking kitchenware, the food material box and the flavoring device.

3. The intelligent kitchen cooking system of claim 1, wherein: the fourth arm rod working end comprises a structure shell, an electromagnetic coil, an armature and a fixed partition plate, the armature is fixed in the structure shell through the fixed partition plate, and the electromagnetic coil is arranged on the outer surface of the armature and used for replacing cooking utensils and clamping food material boxes and seasoning boxes.

4. Cooking method using the intelligent kitchen cooking system according to claim 1, characterized in that: the method specifically comprises the following steps:

step one, a user cleans the dishes and food materials and places the dishes and the food materials in a food material box, and a cooking process is determined in a touch display, wherein the cooking process comprises cooking kitchenware required to be used in each step and preset cooking time;

5. The cooking method of claim 4 wherein: the control system controls the working end of the mechanical arm to be above each permanent magnet, controls the electromagnetic coil to be electrified, enables the armature to generate magnetism, and absorbs the permanent magnets to be fixed in the square clamping groove; after the cooking operation is executed, the control system controls the mechanical arm to be above the original position of the permanent magnet, the electromagnetic coil is controlled to be electrified reversely, the armature iron generates reverse magnetism, the permanent magnet is pushed to leave the clamping groove, the permanent magnet is released to the original position, and the installation and the disassembly of various cooking kitchenware, food material boxes and seasoning boxes are completed.