CN112555916B - Control method of cooking system, computer readable storage medium and cooking system - Google Patents

Control method of cooking system, computer readable storage medium and cooking system Download PDF

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Publication number
CN112555916B
CN112555916B CN202011258460.6A CN202011258460A CN112555916B CN 112555916 B CN112555916 B CN 112555916B CN 202011258460 A CN202011258460 A CN 202011258460A CN 112555916 B CN112555916 B CN 112555916B
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Prior art keywords
cooking
steaming
pot
controller
temperature
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CN112555916A (en
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钱意
万晨
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Shenzhen Huowang Intelligent Kitchen Electric Co ltd
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Shenzhen Huowang Intelligent Kitchen Electric Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24C—DOMESTIC STOVES OR RANGES ; DETAILS OF DOMESTIC STOVES OR RANGES, OF GENERAL APPLICATION
    • F24C3/00—Stoves or ranges for gaseous fuels
    • F24C3/12—Arrangement or mounting of control or safety devices
    • F24C3/126—Arrangement or mounting of control or safety devices on ranges
    • 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
    • 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
    • A47J27/04—Cooking-vessels for cooking food in steam; Devices for extracting fruit juice by means of steam ; Vacuum cooking vessels
    • 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
    • A47J27/04—Cooking-vessels for cooking food in steam; Devices for extracting fruit juice by means of steam ; Vacuum cooking vessels
    • A47J2027/043—Cooking-vessels for cooking food in steam; Devices for extracting fruit juice by means of steam ; Vacuum cooking vessels for cooking food in steam

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Cookers (AREA)

Abstract

The invention provides a control method of a cooking system, a computer readable storage medium and the cooking system. The control method comprises the following steps: the controller receives a control instruction of steaming dishes and acquires navigation menu data corresponding to the steaming dishes; the controller executes a steaming pot confirmation step; the controller performs a boiling step; the controller executes the steaming step, carries out constant fire control or tracking curve control on the electromagnetic proportional valve until the steaming duration reaches the total duration of the curve section corresponding to the steaming step, and then executes the next cooking sub-step or executes the control of the first cooking range to close fire. The control method provided by the invention realizes accurate control of the temperature of the food material and the gas fire power at each moment in the cooking process. In the steaming step, a constant-firepower steaming or temperature-time tracking curve can be selected according to the requirement to simulate the firepower control process of the kitchen as much as possible, so that the firepower reproduction at each moment is realized as much as possible, and the taste and flavor of the kitchen are obtained through precise firepower control.

Description

Control method of cooking system, computer readable storage medium and cooking system
Technical Field
The invention relates to the technical field of gas cooking, in particular to a control method of a cooking system, a computer readable storage medium and the cooking system.
Background
Steaming is a very healthy cooking mode, and is increasingly favored by modern people due to the advantages of light taste, locking more nutrients and the like. However, the cooking mode of steaming has high requirements on the heat, the heat is insufficient to cause the food to be not cooked, the heat is excessively insufficient to seriously affect the taste, the common people can hardly steam the taste and the taste of the kitchen grade professional level, the steaming characteristic also causes trouble to catering operators, the tastes of dishes steamed by different chefs are difficult to unify, and the user experience is unstable.
Although some automatic cooking methods are proposed in the industry, the method is usually simple in changing a few fixed firepower, and the firepower is controlled too roughly, so that the accurate control of the temperature of food materials and the firepower of fuel gas in a kitchen at all times cannot be realized, and the cooked dishes are difficult to achieve the taste of the kitchen.
Disclosure of Invention
Based on the above-mentioned situation, a main object of the present invention is to provide a control method of a cooking system, a computer readable storage medium and a cooking system, so as to solve the problems of too rough fire control and difficult reproduction of the steaming process of a kitchen in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a control method of a cooking system for steaming food through the cooking system, the cooking system comprising a gas cooker with a controller and at least one intelligent pot, the intelligent pot being communicatively connectable to the controller, the gas cooker comprising at least one burner, the at least one burner comprising a first burner, the gas cooker having an electromagnetic proportional valve communicatively connectable to the controller, the firepower output by the burner being controlled by adjusting the opening of the electromagnetic proportional valve, the intelligent pot comprising a pot body, a pot cover, a steaming rack and a temperature sensor for detecting the temperature of the pot body, the control method comprising the steps of:
s10, receiving a control instruction of steaming dishes by the controller, and acquiring navigation menu data corresponding to the steaming dishes, wherein the navigation menu data comprises a temperature time curve and a plurality of cooking substeps, the temperature time curve comprises a plurality of curve sections corresponding to the cooking substeps respectively, and the cooking substeps comprise a steaming pot confirmation step, a boiling step and a steaming step;
S40, the controller executes the steaming pot confirmation step, and specifically comprises the following steps: the controller controls the first cooking range to strike fire, acquires the actual temperature detected by the temperature sensor of the intelligent pot in a communication mode, determines the intelligent pot in a heating state according to the acquired actual temperature information, and takes the intelligent pot as the steaming pot;
s60, the controller executes the boiling step, and specifically comprises the following steps: the controller controls the electromagnetic proportional valve to be at the maximum opening, so that the first cooking range heats the steaming pot with the maximum firepower until the actual temperature detected by the temperature sensor of the steaming pot is greater than or equal to the boiling temperature threshold value, and the next cooking substep is executed;
s70, the controller executes the steaming step, and specifically comprises the following steps: performing constant-fire control or tracking curve control on the electromagnetic proportional valve until the steaming duration reaches the total duration of the curve section corresponding to the steaming step, and executing the next cooking sub-step or executing S80;
s80, the controller controls the first cooking range to be turned off;
wherein,,
the constant firepower control is as follows: controlling the electromagnetic proportional valve to maintain a constant opening;
The tracking curve is controlled as follows: and obtaining a curve segment corresponding to the current cooking substep, taking the temperature at each moment in the corresponding curve segment as a target temperature, and adjusting the opening degree of the electromagnetic proportional valve so as to enable the change curve of the actual temperature detected by the temperature sensor of the steaming pot along with the time to track the corresponding curve segment.
Preferably, the plurality of cooking sub-steps further includes a food material adding step, and the control method further includes the following steps performed before or after step S60:
s50, the controller executes the feeding material step, and specifically comprises the following steps: the controller sends out a food material adding action reminding signal, and executes the next cooking substep after detecting that the food material adding action is finished.
Preferably, a weight sensor is arranged at the cooking range of the gas stove, and the controller judges whether the food adding action is executed according to the weight information detected by the weight sensor.
Preferably, in the step S50, the detecting whether the feeding action is performed includes the steps of:
s51, acquiring weight information detected by the weight sensor;
s52, judging the cover opening and closing state of the steaming pot according to the weight information, executing S53 if the steaming pot is in the cover closing state, and executing S54 if the steaming pot is in the cover opening state;
S53, judging whether the weight information has suddenly fallen equal to or higher than a first preset weight difference value, if so, judging that the uncovering action is executed, jumping to S54, otherwise, continuing to judge;
s54, judging whether the weight information is suddenly lifted which is equal to or higher than a second preset weight difference value, if so, judging that food materials are put in, jumping to S55, otherwise, continuing to judge;
s55, judging whether the weight information is suddenly increased equal to or higher than the first preset weight difference value, if yes, judging that the food adding action is finished, and if not, continuing to judge.
Preferably, in the step S52, the judging of the open/close cover state of the steaming pot includes the steps of:
s521, obtaining the actual water adding weight value m in the step S30 Water and its preparation method ；
S522, obtaining the current weight value m detected by the weight sensor Currently, the method is that ；
S523, calculating the weight m of the steaming pot after water is removed Dewatering ＝m Currently, the method is that -m Water and its preparation method ；
S524, calculate the actual difference Δm=m Dewatering -m Pot body -m Steaming rack ，m Pot body M is the actual weight of the pot body Steaming rack Is the actual weight of the steaming rack;
s525, judging whether the actual difference Deltam is greater than or equal to the preset difference Deltam Reservation of If yes, judging that the steaming pot is in a cover closing state, otherwise, judging that the steaming pot is in a cover opening state.
Preferably, the plurality of cooking sub-steps further includes a steaming rack step and a water adding step, and the control method further includes the steps of, performed before step S60:
s20, executing the steaming rack placing step, wherein the controller sends out an action reminding signal of the steaming rack placing step, and executing the next cooking substep after detecting the action of the steaming rack placing step;
s30, executing the water adding step, wherein the controller sends out a water adding action reminding signal, and executing the next cooking substep after detecting the water adding action;
the controller also judges whether the steaming rack is placed and the water adding action is executed or not according to the weight information detected by the weight sensor.
Preferably, the at least one intelligent pot comprises more than two intelligent pots, the at least one cooking range further comprises a second cooking range, the plurality of cooking sub-steps further comprises a topping pot confirmation step and a topping preparation step, and the control method further comprises the steps of:
s90, executing the material pouring pot confirmation step, wherein the controller controls the second cooking range to strike fire, acquires actual temperatures detected by temperature sensors of other intelligent pots except the steaming pot, determines the intelligent pot in a heating state according to the acquired actual temperature information, and takes the intelligent pot as the material frying pot;
And S100, executing the casting preparation step, wherein the controller sends a feeding action reminding signal, and after detecting the feeding action, performing constant firepower control or tracking curve control on the electromagnetic proportional valve of the second cooking range until the preparation duration reaches the total duration of the curve section corresponding to the casting preparation step, and controlling the second cooking range to be turned off.
Preferably, in the step S40, when the controller controls the first burner to strike a fire, the controller controls the input current of the electromagnetic proportional valve corresponding to the first burner to be a first preset current;
in the step S90, when the controller controls the second cooking range to strike a fire, controlling the input current of the electromagnetic proportional valve corresponding to the second cooking range to be a second preset current;
the first preset current and the second preset current are unequal.
Preferably, the step S10 further includes the step of:
s90: and the controller judges whether the actual temperature of the intelligent pot is greater than a dry heating prevention threshold, if so, the controller alarms and jumps to step S80.
Preferably, when the controller performs tracking curve control on the electromagnetic proportional valve, the controller takes the target temperature as an input of a corresponding moment of a nonlinear tracking differentiator in an ADRC model, takes an actual temperature at the corresponding moment as a controlled object, takes the actual temperature as a feedback input of an extended state observer in the ADRC model, and utilizes the ADRC model to output a current value of the electromagnetic proportional valve, and the controller controls the electromagnetic proportional valve to work according to the current value so as to adjust the opening degree of the electromagnetic proportional valve.
A computer-readable storage medium storing a computer program which, when executed, implements the control method as described above.
A cooking system comprising a gas cooker with a controller and at least one intelligent pot capable of being communicatively connected with the controller, the gas cooker comprising at least one cooking range comprising a first cooking range, the gas cooker having an electromagnetic proportional valve communicatively connected with the controller, the fire output by the cooking range being controlled by adjusting the opening of the electromagnetic proportional valve, the intelligent pot comprising a pot, a lid, a steaming rack and a temperature sensor for detecting the temperature of the pot, wherein the controller is capable of implementing a control method as described above.
In the control method provided by the invention, the whole steaming process is divided into different cooking sub-steps according to the characteristic of fire control, meanwhile, a temperature time curve serving as a reference is divided into a plurality of curve sections corresponding to each cooking sub-step, and a corresponding fire control mode and jump conditions among each cooking sub-step are selected according to the cooking characteristic of each cooking sub-step, so that the accurate control of the temperature of food materials and the fire of fuel gas at each moment in the cooking process is realized. Further, in the steaming step, a constant-fire steaming or temperature-time tracking curve can be selected according to the requirement to simulate the fire control process of the kitchen as much as possible, so that the fire reproduction at each moment is realized as much as possible, and the taste and the flavor of the kitchen at the level are obtained through precise fire control.
Other advantages of the present invention will be set forth in the description of specific technical features and solutions, by which those skilled in the art should understand the advantages that the technical features and solutions bring.
Drawings
Hereinafter, preferred embodiments according to the present invention will be described with reference to the accompanying drawings. In the figure:
fig. 1 is a system diagram of a cooking system according to an embodiment of the present invention;
fig. 2 is a flowchart of a cooking control method according to an embodiment of the present invention;
FIG. 3 is a block diagram of an ADRC model in a control method of a cooking system according to an embodiment of the present invention;
fig. 4 is a schematic diagram showing the time sequence of the change of each physical quantity at one stage in a preferred embodiment of the control method of the cooking system according to the present invention.
In the figure:
100. a gas range; 110. a controller; 111. a control unit; 112. a storage unit; 113. a wireless communication unit; 120. an electromagnetic proportional valve; 130. a weight sensor;
200. an intelligent pot; 210. a temperature sensor; 220. and a wireless transmission module.
Detailed Description
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in order to avoid obscuring the present invention, and in order to avoid obscuring the present invention, well-known methods, procedures, flows, and components are not presented in detail.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
Aiming at the problems that the fire control is too rough and the steaming process of the large kitchen is difficult to reproduce in the prior art, the applicant researches find that the matching control requirement of the steamed dishes on the fire and the time is very high, either of the steamed dishes does not meet the requirement, the matching of the steamed dishes does not meet the requirement can greatly influence the finished product finally steamed, in addition, as the fire size is actually determined by the opening degree of the electromagnetic proportional valve, under the condition that the pressure of the gas pipe is unstable, the same electromagnetic proportional valve can actually generate different fire, and in combination, the fire of the whole steaming process of the large kitchen is difficult to reproduce by simply fixing a plurality of fire (actually fixing the opening degree of the electromagnetic proportional valve).
Based on this, the present application provides a cooking system, as shown in fig. 1, which includes a controller 110, a gas cooker 100 and at least one intelligent pot 200, wherein the intelligent pot 200 can be communicatively connected with the controller 110, and in particular, the intelligent pot 200 includes a pot body, a pot cover, a steaming rack, a temperature sensor 210 and a wireless communication module 220, when the intelligent pot 200 is used for steaming food, water is poured into the pot body and the steaming rack is placed in the pot body, then a container containing food materials to be steamed is placed on the steaming rack, and the pot cover is covered to fire for steaming. The intelligent pot 200 is in communication connection with the controller 110 through the wireless communication module 220, and the temperature sensor 210 is arranged on the pot body and is used for detecting the actual temperature of the pot body, and the actual temperature of the pot body can be transmitted to the controller 110 through the wireless communication module 220. The gas range 100 includes at least one burner having a flame path communicating with a gas supply end through the electromagnetic proportional valve 120 and an electromagnetic proportional valve 120 communicatively connected to the controller 110, and the controller 110 can control an opening degree of the electromagnetic proportional valve 120 to thereby adjust a fire power output from the burner. Preferably, the cooking range comprises an inner ring flame path and an outer ring flame path, the electromagnetic proportional valve 120 comprises a first electromagnetic proportional valve and a second electromagnetic proportional valve, the inner ring flame path is communicated with the air supply end through the first electromagnetic proportional valve, the outer ring flame path is communicated with the air supply end through the second electromagnetic proportional valve, and the controller 110 can realize comprehensive regulation of firepower through independent control of the first electromagnetic proportional valve and the second electromagnetic proportional valve respectively, so that more accurate regulation of firepower is realized. The controller 110 may be integrated on the gas stove, for example, below a middle transparent panel of the gas stove, or may be an independent device, for example, a device integrated with functions of display, control, voice, etc., and may be installed on a wall by a user, etc., which is particularly suitable for retrofitting an existing common gas stove.
The controller 110 includes a control unit 111, a storage unit 112 and a wireless communication unit 113, and the controller 110 is communicatively connected with the wireless communication module 220 of the intelligent pot 200 through the wireless communication unit 113, so as to realize data transmission between the controller 110 and the intelligent pot 200. The storage unit 112 stores temperature time curves corresponding to different steamed dishes, namely, the corresponding relation between the temperature of the pot and the time in the whole steaming process of the steamed dishes, and the storage unit 112 stores different control programs of the electromagnetic proportional valve 120 for the control unit 111 to call.
It will be appreciated that the gas range further comprises an ignition mechanism disposed at the burner, typically between the inner and outer annular flame paths. The ignition mechanism is connected with the control unit 111, so as to control the operation of the ignition unit through the control unit 111, and further control the ignition mechanism to perform ignition. When the gas stove is provided with a plurality of stoves, each stove is provided with an inner ring flame path, an outer ring flame path, a first electromagnetic proportional valve, a second electromagnetic proportional valve and an ignition mechanism.
As shown in fig. 2, the control method of the cooking system includes the steps of:
s10, receiving a control instruction of steaming dishes by the controller 110, acquiring navigation menu data corresponding to the steaming dishes, wherein the navigation menu data comprises a temperature time curve and a plurality of cooking substeps, the temperature time curve comprises a plurality of curve sections corresponding to the cooking substeps respectively, and the cooking substeps comprise a boiling step and a steaming step;
S60, the controller 110 executes a boiling step, which specifically comprises the following steps: the controller 110 controls the electromagnetic proportional valve 120 to be at the maximum opening degree so that the first cooking range heats the steaming pot with the maximum fire power until the actual temperature detected by the temperature sensor 210 of the steaming pot is greater than or equal to the boiling temperature threshold value, and the next cooking sub-step is performed;
s70, the controller 110 executes a steaming step, specifically including: performing constant-fire control or tracking curve control on the electromagnetic proportional valve 120 until the steaming duration reaches the total duration of the curve segment corresponding to the steaming step, and then executing the next cooking sub-step or executing S80;
s80, the controller 110 controls the first cooking range to be turned off.
Wherein, constant firepower control is: controlling the electromagnetic proportional valve 120 to maintain a constant opening; the tracking curve is controlled as follows: the curve segment corresponding to the current cooking substep is acquired, the temperature at each moment in the corresponding curve segment is taken as the target temperature, and the opening degree of the electromagnetic proportional valve 120 is adjusted, so that the change curve of the actual temperature detected by the temperature sensor 210 of the steaming pot along with the time tracks the corresponding curve segment.
The navigation menu data may be intrinsic data stored in the storage unit 112 of the controller 110, or may be data acquired from a cloud communicatively connected to the controller 110, or data acquired from a mobile terminal such as a mobile phone or a tablet computer communicatively connected to the controller 110.
In the prior art, the cooking system of the gas range often directly takes the final temperature of the cooking stage as a target temperature, and heats the final temperature of the cooking stage to the target temperature directly with a big fire, a medium fire or a small fire, however, in this way, the surface of the food may be burnt, the internal temperature does not reach the target temperature yet, or the final temperature is reached, but the heating time is too long, and some parts may be excessively heated, so that the mouthfeel of the food is affected. And because of the influence of factors such as different environment temperatures, the same firepower is difficult to reproduce the same temperature, and the taste of the food cooked each time is uncertain.
In the control method for steaming food, the whole steaming process is divided into different cooking sub-steps according to the characteristic of fire control, and meanwhile, a temperature time curve serving as a reference is divided into a plurality of curve sections corresponding to each cooking sub-step, so that a corresponding fire control mode and jump conditions among each cooking sub-step can be selected according to the cooking characteristic of each cooking sub-step, the accurate control of the temperature of food materials and the fire of fuel gas at each moment in the cooking process can be realized, the control logic can be simplified, and the response speed can be improved. Specifically, in the steaming step of carrying out fire control very about the taste of the food material, the fire is controlled by adopting a mode of controlling constant fire matched with time or tracking a temperature time curve, so that the heating degree of food affected by factors such as gas pressure fluctuation is greatly reduced, the change relation of the actual temperature of the food along with the time is enabled to follow the temperature time curve, the fire control process of a kitchen is simulated as much as possible, the reproduction of the fire at each moment is realized, and the taste of the kitchen level are obtained through accurate fire control. The stage of boiling which needs maximum fire steaming and does not need to track a temperature time curve adopts constant fire control, so that control logic can be simplified, the operation amount of a controller can be reduced, the response speed can be further improved, and the influence of water quantity deviation on a switching node can be effectively avoided by taking the target temperature as a step switching condition in the boiling step.
Further preferably, two electromagnetic proportional valves 120 and corresponding outer ring flame paths and inner ring flame paths are arranged, and the first electromagnetic proportional valve and the second electromagnetic proportional valve are independently controlled, so that the inner ring flame and the outer ring flame can be independently regulated, that is, the inner ring flame and the outer ring flame are not affected by each other, and can be combined according to the needs, so that the accurate control of the flame is realized through the combination of the inner ring flame and the outer ring flame, the optimal flame configuration at each moment is achieved, the change relation of the actual temperature along with time is better tracked by accurate regulation of the flame, the accurate control of the heating process at each moment of food is improved, and the taste of the food is improved.
The number of cooking ranges can be one or two or more, the number of the intelligent cookers 200 can be equal to that of the cooking ranges, can be smaller than that of the cooking ranges, or can be larger than that of the cooking ranges, namely, two cooking ranges can be matched with one intelligent cooker 200, can be matched with two intelligent cookers 200, can be matched with one intelligent cooker 200, and can be matched with two intelligent cookers 200. In step S20, when there is only one of the cooking ranges and the intelligent cookers 200, the intelligent cookers 200 are directly determined to be steamed, and when there are a plurality of cooking ranges, if there is one intelligent cooker 200 placed on each cooking range, or there is only one cooking range, but there is a plurality of intelligent cookers 200 configured, at this time, it is necessary to determine which intelligent cooker 200 is used on the cooking range that is fired, and this operation can display the matched intelligent cookers 200 on the touch display screen, and then input the corresponding intelligent cookers 200 through the touch instruction, so as to determine the intelligent cookers 200 corresponding to the fired cooking ranges. In a preferred embodiment of the present invention, the intelligent cooker automatically performs the matching of the cooking range and the intelligent pot 200, specifically, the plurality of cooking sub-steps further includes a steaming pot confirmation step, and the control method further includes the steps of:
S40, the controller 110 performs a steaming pot confirmation step, specifically includes the controller 110 controlling the first cooking stove to strike fire, obtaining the actual temperature detected by the temperature sensor 210 of the intelligent pot 200 in a communication manner, determining the intelligent pot 200 in a heating state according to the obtained actual temperature information, and taking the intelligent pot 200 as a steaming pot.
Taking two cooking ranges and two intelligent cookers 200 as examples, the two cooking ranges are respectively marked as a first cooking range and a second cooking range, the two intelligent cookers 200 are respectively marked as a first pot and a second pot, if the first cooking range is a precooking cooking range, the control unit 111 firstly controls the ignition mechanism corresponding to the first cooking range to ignite, and then judges which pot is in a heating state through temperature information sent by the first pot and the second pot, if the first pot reaches, the first pot is placed on the first cooking range, and namely, the first pot is determined to be a steaming pot.
The above-mentioned confirmation process can also avoid the misplacement of the intelligent pot 200, if the intelligent pot 200 in the heating state is not found after the ignition, the misplacement of the intelligent pot 200 is illustrated, the control unit 111 of the controller 110 can send an error signal to remind the user to replace the placement of the intelligent pot 200.
The actions such as adding food materials, adding water, steaming the food materials and the like before steaming the food materials can be done in advance by a user, and the steps such as boiling, steaming and the like are directly executed after the heating, in fact, the quantity of the food materials and the water adding quantity can also have a certain influence on the mouthfeel of the finally steamed dishes.
The feeding step may be set before or after step S60 according to a specific recipe, specifically, for dishes to be steamed in a cold water pot, the feeding step is performed before step S60, for example, minced garlic vermicelli baby cabbage, and for dishes to be steamed in a boiling water pot to ensure tenderness, the feeding step is performed after step S60, for example, steamed chicken custard. Based on this, the control method further includes the following steps performed before or after step S60:
s50, the controller 110 executes a food material adding step, which specifically comprises the following steps: the controller 110 sends out a food material adding action reminding signal, and executes the next cooking substep after detecting that the food material adding action is completed.
Since the temperature of the pot body will change correspondingly after the material is added, in step S50, it can be determined whether the corresponding action is performed by the actual temperature detected by the temperature sensor 210, specifically, after the action alert for adding the food material is performed, the controller 110 obtains the actual temperature detected by the temperature sensor 210, and determines whether a significant temperature reduction occurs within a predetermined period of time, if so, it is determined that the corresponding action is performed, otherwise, it is determined that the corresponding action is not performed.
Since the change of the pot body temperature is greatly affected by other factors such as fire and environment in the actual cooking process, in order to improve the accuracy of the action execution judgment, preferably, the range of the gas stove is provided with the weight sensor 130, and in step S50, the controller 110 judges whether the corresponding action is executed according to the weight information detected by the weight sensor 130. Specifically, after the food adding action reminding is performed, the controller 110 obtains the weight detected by the weight sensor 130, and determines whether the weight is increased within a predetermined period of time (the determination criterion of the increase is different according to the difference of the added materials), if so, it is determined that the corresponding action is performed, otherwise, it is determined that the corresponding action is not performed, and the food adding action reminding is continued.
Since the initial state of the pot cover (i.e., whether the pot cover is in the opened or closed state) is uncertain regardless of whether the food is added in cold water or boiling water, it is preferable to first determine what the initial opened or closed state of the steaming pot is, if the pot cover is opened initially, directly detect whether the food is added, if the pot cover is closed initially, first detect whether the opening operation is performed, and then detect whether the food is added after the opening operation is performed, specifically, in step S50, detect whether the food adding operation is performed, including the steps of:
s51, acquiring weight information detected by a weight sensor;
s52, judging the cover opening and closing state of the steaming pot according to the weight information, executing S53 if the steaming pot is in the cover closing state, and executing S54 if the steaming pot is in the cover opening state;
s53, judging whether the weight information is suddenly reduced which is equal to or higher than a first preset weight difference value, if so, judging that the uncovering action is executed, jumping to S54, otherwise, continuing to judge;
s54, judging whether the weight information is suddenly lifted which is equal to or higher than a second preset weight difference value, if so, judging that food materials are put in, jumping to S55, otherwise, continuing to judge;
S55, judging whether the weight information is suddenly increased equal to or higher than the first preset weight difference value, if so, judging that the food adding action is finished, and if not, continuing to judge.
In steps S53, S54 and S55, if the duration exceeds a certain time, the user may not perform the corresponding action, or may perform the action but the weight sensor 130 does not detect the corresponding action, in general, after the user performs the first action in the action group, the following actions should be continuously performed according to the prompt, so if the first action in the action group is not performed for a certain time, the alarm is given and fire is turned off, and if the following actions are performed for a certain time, the next step is directly skipped, for example, when the opening and closing state of the steaming pot is the opening state, if the step S54 does not detect the sudden rise of the second predetermined weight difference for a certain time, the alarm is given and fire is turned off, and in the following step S55, if the sudden rise of the first predetermined weight difference is not detected for a certain time, the next step is directly skipped. For another example, when the cover opening/closing state of the steaming pot is the cover closing state, if no sudden drop of the first predetermined weight difference is detected for a certain time in step S53, the alarm is given and fire is closed, and if no sudden drop of the second predetermined weight difference is detected for a certain time in subsequent step S54, the process goes to step S55, and if no sudden drop of the first predetermined weight difference is detected for a certain time in step S55, the process goes to the next step.
Before the food material is added, the weight of the steaming pot is the sum of the weight of the pot body, the pot cover, the steaming rack and the water, so that the current weight of the steaming pot is reduced by the weight of the water, the pot body and the steaming rack, and the steaming pot can be judged whether to be in the uncapped state or not by comparing with a preset value, specifically, in the step S52, the step of judging the opened and closed state of the steaming pot comprises the following steps:
s521, obtaining the actual water weight value m in step S30 (described later) Water and its preparation method ；
S522, obtaining the current weight value m detected by the weight sensor Currently, the method is that ；
S523, calculating the weight m of the steaming pot after water is removed Dewatering ＝m Currently, the method is that -m Water and its preparation method ；
S524, calculate the actual difference Δm=m Dewatering -m Pot body -m Steaming rack ，m Pot body M is the actual weight of the pot body Steaming rack Is the actual weight of the steaming rack;
s525, judging whether the actual difference Deltam is greater than or equal to the preset difference Deltam Reservation of If yes, judging that the steaming pot is in a cover closing state, otherwise, judging that the steaming pot is in a cover opening stateA state.
In step S521, the actual water adding weight value may be calculated according to the weights before and after adding water, or the recommended water adding amount of the prompt may be directly called. Predetermined difference Deltam Reservation of Can be directly set as the weight of a pot cover, and the difference delta m is preset in order to avoid misjudgment caused by calculation errors Reservation of Is set to a value greater than 0 and less than the weight of the pot cover.
It is understood that, of course, the change of the weight information may be directly analyzed without determining the open/close state of the cover, and the currently executed operation may be determined based on the change of the weight information. For example, if a sudden drop in weight is detected first, the door opening operation is described as being performed, and if a sudden drop in weight is detected first, the food adding operation is described as being performed.
The number of the food adding steps can be one or a plurality, especially in the recipes of adding food materials into boiling water and adding the food materials into a plurality of food materials, the maturation speeds of the food materials are usually different, different food material adding steps are required to be executed at different moments to ensure the consistency of the maturation degree of the food materials, a plurality of steaming steps are correspondingly arranged at the moment, and different food material adding steps are alternately arranged between the steaming steps.
Further, in step S50, if the corresponding action is not executed for a predetermined period of time, an alarm is given and the process goes to step S80. Namely, when no food is detected, the fire is directly turned off, and an alarm is given to remind a user that the main material is not added. When the cooking is stopped, the current temperature can be recorded, if the user wants to continue the cooking process, the cooking state is restored to the state when the cooking is stopped as soon as possible by heating to the recorded temperature value with the maximum fire after restarting, so that the influence of the stopping on the food (in the case of adding the food for many times) is reduced as much as possible. The predetermined time period may be set according to the specific situation, for example, 10 to 20 seconds. In fact, when the steamed food materials are plural, some food material users do not want to add in practice, and if the normal steaming process of the dishes is still affected by the alarm and the control of the fire, based on this, preferably, the plural food materials are divided into the necessary food materials and the unnecessary food materials, in step S50, if the corresponding action is not performed for the predetermined time period for the necessary food materials, the alarm is given and the process goes directly to step S80, and if the corresponding action is not performed for the predetermined time period for the unnecessary food materials, the next cooking sub-step is directly performed.
It was mentioned before that some food users are actually not wanted, at which point the user can also control to skip the cooking sub-step by the controller 110 to directly enter the next cooking sub-step. The controller 110 may also memorize these operations by the user and may actively prompt the user whether the cooking sub-step is still skipped the next time the same dish is made.
Further, the control method further includes the following steps performed before step S60:
s20, executing a steaming rack placing step, wherein the controller 110 sends out an action reminding signal for placing the steaming rack, and executes a next cooking substep after detecting the action of placing the steaming rack;
s30, executing a water adding step, wherein the controller 110 sends out a water adding action reminding signal, and executing the next cooking substep after detecting the water adding action;
the controller 110 also determines whether the steaming rack and water adding operation is performed according to the weight information detected by the weight sensor 130. The specific process is similar to the food material adding step, and will not be described here again.
It should be noted that, neither the temperature sensor 210 nor the weight sensor 130 is generally continuously collected, but is sampled once every period of time (i.e., a sampling period such as 200 ms), and accordingly, is sent to the controller 110.
In actual operation, the weight sensor 130 may actively send weight information to the control unit 111 of the controller 110, and if the control unit 111 does not need weight information at this time, the control unit 111 may close the port for receiving weight information; or the control unit 111 continuously receives the weight information but does not process it; in the former method, if the control unit 111 needs weight information, a port for receiving weight information is opened, and in the latter method, the control unit 111 processes the received weight information only when the weight information is needed. The control unit 111 may send the weight enabling signal to the weight sensor 130 when the weight information needs to be acquired, and the weight sensor 130 may send the weight information to the control unit 111 when the weight enabling signal is received, and of course, the weight sensor 130 may perform weight acquisition only when the weight enabling signal is received.
Of course, the execution or non-execution of the cooking action may be detected by other sensors, such as a camera. The camera can be used for detecting the types of the food, specifically, the camera is arranged on a structure such as a gas stove, a range hood or a kitchen wall, the camera collects the fed food pictures, picture information is sent to a control monocular, and the control unit judges the types of the food according to the food pictures.
Wherein, different navigation menu data corresponding to different steamed dishes may be stored in the storage unit 112 in the form of data packets, and when the control unit 111 of the controller 110 receives a control instruction of the steamed dishes, the corresponding data packets may be directly read in the storage unit 112. As the number of steamed dishes stored in the storage unit 112 increases, the storage space it occupies increases, and the manner of the data packet affects the number of steamed dishes stored. The applicant found that many cooking sub-steps in the steamed dishes are the same, and repeated storage obviously causes waste of storage space, and based on this feature, in a preferred embodiment, all cooking sub-steps that can be used in the steamed dishes are stored in the storage unit 112 as step units, each step unit corresponds to an identifier, identifiers corresponding to each steamed dish are further stored in the storage unit 112, and when the navigation menu data is read, firstly, the identifier corresponding to the steamed dish to be cooked is obtained, the step unit corresponding to the steamed dish is searched according to the identifier, and the searched step unit is used as the cooking sub-step. For example, the plurality of step units stored in the storage unit 112 include a steaming rack step, a water adding step, a food material adding step 1, a food material adding step 2, a food material adding step 3, a boiling step, a steaming step 1, and a steaming step 2, respectively corresponding to the marks 1, 2, 3, 4, 5, 6, 7, and 8, and when steaming the dish of the egg custard, only the steaming rack step, the water adding step, the food material adding step 2, and the steaming step 1 are needed, only the corresponding temperature time curve and the marks 1, 2, 4, 6, and 7 are needed to be stored in the storage unit 112. The number of steamed dishes that can be stored by the storage unit 112 is greatly increased, since the storage space occupied by the identifiers is small.
The opening degree of the electromagnetic proportional valve 120 may be controlled by a current applied to a control terminal thereof, and if a maximum current is input to the control terminal of the electromagnetic proportional valve 120, the opening degree thereof is the maximum opening degree, and a minimum current is input to the control terminal, and the opening degree thereof is the minimum, and the corresponding current may be applied corresponding to other opening degrees. When the controller 110 performs tracking curve control on the electromagnetic proportional valve 120, specifically, a PID model and a fuzzy control algorithm may be used, and in a preferred embodiment of the present invention, an ADRC (Active Disturbance Rejection Control, active disturbance rejection control technique) model is used to adjust the electromagnetic proportional valve 120, which specifically includes:
extracting the temperature at each moment in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of the nonlinear tracking differentiator in the ADRC model, taking the actual temperature at the corresponding moment as a controlled object, taking the actual temperature as the feedback input of the extended state observer in the ADRC model, and outputting the current value of the electromagnetic proportional valve 120 by using the ADRC model;
the input current of the electromagnetic proportional valve 120 is adjusted according to the current value output by the ADRC model, so that the opening degree of the electromagnetic proportional valve 120 is controlled, and the firepower control is realized, so that the change of the actual temperature along with the time of the temperature is along with the time curve of the temperature.
The ADRC model in the present invention is shown in fig. 3, and includes a nonlinear tracking differentiator TD, a nonlinear state error feedback control law NLSEF, and an extended state observer ESO. The target temperature v (t) is taken as an input signal of the whole model and is input into a nonlinear tracking differentiator TD; the difference en between the output Z1n of the nonlinear tracking differentiator TD and the feedback Z2n of the extended state observer ESO is used as input to the nonlinear state error feedback control law NLSEF; the difference value between the output u0 (t) of the nonlinear state error feedback control law NLSEF and the feedback of the extended state observer ESO is recorded as an output difference value, and the quotient of the output difference value and the gain b and the change rate d (t) of the controlled object act on the controlled object together to obtain an output y (t); the product of the output difference and the gain b acts together with the controlled object on the extended state observer ESO. In the invention, the target temperature is taken as an input signal v (t), the controlled object is the actual temperature of the cooking pot, and the output y (t) is the current of the electromagnetic proportional valve 120. So, firstly, the nonlinear tracking differentiator TD is used for realizing the rapid overshoot-free tracking of the target temperature of the system and can give a good differential signal to the system; secondly, the ADRC model regards the uncertainty of the system as the internal disturbance of the system, the system and the external disturbance of the system are regarded as the disturbance of the whole system, the comprehensive effects of the internal disturbance and the external disturbance are directly monitored without distinguishing the comprehensive effects, namely, the total disturbance of the system, the state and the disturbance of the system are respectively estimated through an extended state observer ESO, the extended state observer ESO converts a nonlinear uncertain object with unknown external disturbance (such as external environment temperature and air flow) into an 'integrator series type' by using a nonlinear state error feedback control law NLSEF, and the structure for realizing feedback linearization on the nonlinear uncertain object is realized; and finally, ADRC obtains the compensation effect of the disturbance component by using a nonlinear state error feedback control law NLSEF, and obtains the output of the whole model.
The action reminding can be performed in the form of one or a combination of at least two of voice, characters, images and animation, for example, a loudspeaker and a display screen are arranged in the gas stove, when the sweet potato adding step is performed, the controller 110 controls the loudspeaker to send out voice reminding of 'please add sweet potato', meanwhile, the display screen displays the picture of the sweet potato, and the display screen can also display gif animation, so that the user operation is guided more vividly. Further preferably, the display screen can also display in a size window, the large window displays action reminding which needs to be executed currently, and the small window displays action reminding which needs to be executed next so as to remind a user to prepare in advance, and the action is executed as soon as possible when the user reminds next, so that the accuracy of the blanking time is better ensured, and the cooking process of the kitchen is more accurately reproduced.
If the previous cooking substep adopts tracking curve control, certain hysteresis can be necessarily existed in tracking, if the previous cooking substep adopts constant firepower or constant temperature control, certain deviation can exist between the actual temperature time curve and the pre-stored temperature time curve, preferably, the temperature corresponding to the time end point of the curve section corresponding to the previous cooking substep is used as the end point temperature for constant temperature waiting, thus, the time before charging can be utilized to form good temperature compensation, thereby better reproducing the fire control of the kitchen and further optimizing the taste of dishes.
In step S50, after the food material is fed, the weight of the food material may not be consistent with the standard weight in the step, and if only the cooking action is concerned, curve tracking is still performed or constant fire is controlled to be performed, however, if the weight difference is large, if the weight difference is too large, the heating is obviously insufficient and the heating is slow if the heating is still performed according to the original fire; if the weight is too small, the pan may be burned, and the dish may be made with a high probability unsatisfactory. The manual participation is still needed when the dish is cooked, the firepower is manually adjusted, the consistency of dishes cannot be ensured by the manual adjustment, and in fact, the problems cannot be avoided even if the dish is manually participated.
Based on this, in a further preferred embodiment, in step S50, after it is determined that the action of feeding the food material has been performed according to the weight information detected by the weight sensor 130, it is determined whether the difference between the weight of the fed food material and the standard weight in the step of feeding the food material is less than or equal to a predetermined weight difference, if so, the electromagnetic proportional valve 120 is controlled to be at the maximum opening or the tracking curve control is performed on the electromagnetic proportional valve 120, otherwise, the navigation menu data is replaced.
According to the control method, not only the difference of the weight of the fed food materials is considered, but also the fact that the fed food materials are possibly different from the navigation menu to some extent is considered, so that when the fed food materials are within the preset difference range, the control method is still carried out according to each procedure of the fed food materials in the current cooking stage, only when the difference is large, the navigation menu is replaced, and then whether the weight of the fed food materials is consistent with that of a new navigation menu is judged again, and therefore, the cooking mode is timely adjusted according to the fed food materials, and the success rate of dishes is further improved. It should be noted that, a plurality of navigation menus are stored for the same menu in different weight ranges, that is, the new navigation menu in the above step S50 is also stored in the storage unit 112 of the controller 110 in advance.
In the cooking process of the steamed dishes requiring multiple feeding of the food materials, when the electromagnetic proportional valve 120 is controlled by the tracking curve, if the feeding operation of the food materials is performed according to time, since the temperature information of the temperature sensor 210 is received from the acquisition control unit 111, there is a delay, the actual temperature of the time point corresponding to the feeding operation of the food materials may not reach the target temperature in the temperature time curve corresponding to the time point, at this time, the feeding operation of the food materials may cause the actual temperature in the pot to be insufficient, the follow-up actual temperature tracks the temperature time curve by a relatively effort, for example, in the embodiment shown in fig. 4, the solid line ABCD represents the temperature time curve, the dotted line represents the ideal actual temperature time curve, the two-dot chain line represents the possible actual temperature time curve, the main feeding is performed at the point B, if the feeding operation of the food materials is performed with time as a reference, the actual temperature at the point corresponding to the time B may be B1, if the feeding operation of the food materials at this time point, the follow-up temperature BC in the time curve is suddenly lowered, the actual temperature BC in the pot is still not reached, the actual temperature BC in the pot is not reached, the actual temperature BC is lowered, but the following the actual temperature BC is excessively reaches the time curve, at this time is lower, because the actual temperature is lowered, but the temperature is lowered, and the following temperature is lowered, due to the fact is lower. In order to solve the problem, the invention adjusts the firepower according to the temperature time curve, and simultaneously executes the food material throwing action by taking the target temperature as a basis, namely, when the food material is thrown, the invention combines the corresponding relation between the action and the target temperature, namely, the food material throwing action is executed only when the actual temperature reaches the target temperature, so that the problem that the temperature in the pot is not reached yet, namely, the food material is thrown to cause the temperature in the pot to continuously follow the corresponding relation of the temperature time to cause the heating and the debilitation, and the heating degree of the food material is influenced at all times can be avoided. And the next cooking sub-step with independent time is directly carried out when the previous cooking sub-step is finished, namely as shown in fig. 4, after the food material is put in the point B, the BCD section is refreshed, namely the time of the BCD section does not extend the time of the AB section, but takes the moment after the food material is put in as the starting point of the time, so that the temperature of the point B can be ensured to be reached, the subsequent BCD section can not be influenced to regulate the fire according to the temperature time curve, the actual temperature is better close to the ideal actual temperature time curve, and the food taste is improved.
Specifically, before step S50 is performed, the following steps are also performed:
s111, judging whether the electromagnetic proportional valve 120 is subjected to tracking curve control in the previous cooking substep, if so, executing S112, otherwise, executing S50;
s112, acquiring an end point temperature value of a curve segment corresponding to the previous cooking substep;
and S114, adjusting the opening of the electromagnetic proportional valve 120 by taking the end temperature value as a target temperature until the actual temperature is greater than or equal to the end temperature value, and executing S50.
Since there is a hysteresis in the control only when the tracking curve control is performed, it is first determined whether the previous cooking sub-step is performed on the solenoid proportional valve 120. When the previous cooking substep is to execute tracking curve control, firstly, the actual temperature is raised to the end temperature value of the curve section corresponding to the previous cooking substep, and then, the action reminding signal of feeding the main material is executed. Of course, in some cases, it is also possible that the actual temperature is equal to or higher than the end temperature value of the curve segment corresponding to the previous cooking sub-step, where the subsequent control is not actually needed, step S50 may be directly performed, and further preferably, in order to avoid unnecessary control, the step S114 is further performed before:
S113, judging whether the actual temperature detected by the temperature sensor 210 is greater than or equal to the end temperature value, if so, executing the step S50, otherwise executing the step S114.
In this way, if the actual temperature detected by the temperature sensor 210 is lower than the end temperature value of the curve segment corresponding to the previous cooking substep, the temperature raising control is performed, and if the actual temperature meets the requirement, the step S50 may be directly performed.
Further, steaming dishes requires a lot of pouring operations in the middle of steaming or after steaming is finished, based on which the cooking range further comprises a second cooking range, the plurality of cooking sub-steps further comprises a pouring pot confirmation step and a pouring preparation step, and the control method further comprises the steps of:
s90, executing a material pouring pot confirmation step, wherein the controller 110 controls the second cooking stove to fire, acquires the actual temperature detected by the temperature sensor 210 of the other intelligent pots 200 except the steaming pot, determines the intelligent pot 200 in a heating state according to the acquired actual temperature information, and takes the intelligent pot 200 as the material frying pot;
and S100, executing a casting preparation step, wherein the controller 110 sends out a feeding action reminding signal, and after detecting the feeding action, performs constant fire control or tracking curve control on the electromagnetic proportional valve 120 of the second cooking range until the preparation duration reaches the total duration of the curve section corresponding to the casting preparation step, and then controls the second cooking range to be turned off.
In order to achieve the synchronization of the cooking actions of the two cooking ranges, the controller 110 also calculates according to the duration time of each cooking sub-step, so that the time point when the steaming pot needs to be added with the casting material coincides with the time point when the casting material preparation step is completed, thereby being capable of timely casting the casting material onto the steamed dishes and avoiding influencing the taste of the final steamed dishes due to insufficient casting material temperature after the casting material is too late.
Further, in step S40, when the controller 110 controls the first burner to strike a fire, the input current of the electromagnetic proportional valve 120 corresponding to the first burner is controlled to be a first preset current;
in step S90, when the controller 110 controls the second burner to strike a fire, the input current of the electromagnetic proportional valve 120 corresponding to the second burner is controlled to be a second preset current;
the first preset current and the second preset current are unequal.
In order to prevent hidden safety hazards caused by dry burning in the cooking process, especially when people participate in cooking sometimes, the step S10 further comprises the following steps:
s90: the controller 110 determines whether the actual temperature of the intelligent pot 200 is greater than the anti-dry heating threshold, if yes, the alarm is given and the process goes to step S80.
It will be appreciated that the temperature-time curve described in the present application refers to an abstract temperature-time correspondence, rather than a curve that exists in reality. In practical application, the corresponding relation between the temperature and the time can be expressed by a real curve, a table or a functional form, wherein the real curve is formed by the change of the temperature along with the time, the real table is formed by each moment and the corresponding temperature, and the real functional form is a function of the change of the temperature along with the time. Of course, the temperature-time correspondence relationship may also take other forms.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements a method of controlling steaming food as described above. The computer readable storage medium according to the embodiments of the present disclosure may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Those skilled in the art will appreciate that the above-described preferred embodiments can be freely combined and stacked without conflict. In which the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. The numbering of the steps herein is for convenience of description and reference only and is not intended to limit the order in which the steps are performed simultaneously or in any order without conflict.
It will be understood that the above-described embodiments are merely illustrative and not restrictive, and that all obvious or equivalent modifications and substitutions to the details given above may be made by those skilled in the art without departing from the underlying principles of the invention, are intended to be included within the scope of the appended claims.

Claims (10)

1. A control method of a cooking system for steaming food through the cooking system, the cooking system comprising a gas cooker with a controller and at least one intelligent pot, the intelligent pot being capable of being communicatively connected to the controller, the gas cooker comprising at least one cooking range, the at least one cooking range comprising a first cooking range, the gas cooker having an electromagnetic proportional valve communicatively connected to the controller, the firepower output by the cooking range being controlled by adjusting the opening of the electromagnetic proportional valve, the intelligent pot comprising a pot body, a pot cover, a steaming rack and a temperature sensor for detecting the temperature of the pot body, characterized in that the control method comprises the steps of:
s10, receiving a control instruction of steaming dishes by the controller, and acquiring navigation menu data corresponding to the steaming dishes, wherein the navigation menu data comprises a temperature time curve and a plurality of cooking sub-steps, the temperature time curve comprises a plurality of curve sections corresponding to the cooking sub-steps respectively, the time of the curve section corresponding to each cooking sub-step is independent, and a corresponding firepower control mode and jump conditions among the cooking sub-steps are selected according to the cooking characteristics of each cooking sub-step; the plurality of cooking sub-steps includes a steaming pan confirmation step, a boiling step, and a steaming step;
S40, the controller executes the steaming pot confirmation step, and specifically comprises the following steps: the controller controls the first cooking range to strike fire, acquires the actual temperature detected by the temperature sensor of the intelligent pot in a communication mode, determines the intelligent pot in a heating state according to the acquired actual temperature information, and takes the intelligent pot as the steaming pot;
s60, the controller executes the boiling step, and controls the fire by adopting constant fire, and the method specifically comprises the following steps: the controller controls the electromagnetic proportional valve to be at the maximum opening, so that the first cooking range heats the steaming pot with the maximum firepower until the actual temperature detected by the temperature sensor of the steaming pot is greater than or equal to the boiling temperature threshold value, and the next cooking substep is executed;
s70, the controller executes the steaming step, and controls the fire power in a mode of tracking a temperature time curve, and specifically comprises the following steps: performing tracking curve control on the electromagnetic proportional valve until the duration of steaming reaches the total duration of a curve section corresponding to the steaming step, and executing the next cooking sub-step or executing S80;
s80, the controller controls the first cooking range to be turned off;
Wherein,,
the tracking curve is controlled as follows: acquiring a curve segment corresponding to the current cooking substep, taking the temperature at each moment in the corresponding curve segment as a target temperature, and adjusting the opening degree of the electromagnetic proportional valve to enable the change curve of the actual temperature detected by the temperature sensor of the steaming pot along with the time to track the corresponding curve segment;
when the controller executes tracking curve control on the electromagnetic proportional valve, the target temperature is used as input of corresponding time of a nonlinear tracking differentiator in an ADRC model, and a difference value between output of the nonlinear tracking differentiator and feedback of an extended state observer is used as input of a nonlinear state error feedback control law; the actual temperature at the corresponding moment is taken as a controlled object, the difference value between the output of the nonlinear state error feedback control law and the feedback of the extended state observer is recorded as an output difference value, the quotient of the output difference value and the gain and the change rate of the controlled object act on the controlled object together, the actual temperature is taken as the feedback input of the extended state observer in an ADRC model, the ADRC model is utilized to output the current value of the electromagnetic proportional valve, and the controller controls the electromagnetic proportional valve to work according to the current value so as to adjust the opening of the electromagnetic proportional valve;
The plurality of cooking sub-steps further includes a food material adding step, and the control method further includes the following steps performed before or after step S60:
s50, the controller executes the feeding material step, and specifically comprises the following steps: the controller sends out an action reminding signal of adding food, and executes the next cooking substep after detecting that the action of adding the food is finished;
the food adding action combines the corresponding relation between the action and the target temperature, and the following steps are further executed before the step S50 is executed:
s111, judging whether the electromagnetic proportional valve is subjected to tracking curve control in the previous cooking substep, if so, executing S112, otherwise, executing S50;
s112, acquiring an end point temperature value of a curve segment corresponding to the previous cooking substep;
and S114, adjusting the opening degree of the electromagnetic proportional valve by taking the end temperature value as a target temperature until the actual temperature is greater than or equal to the end temperature value, and executing S50.
2. The control method according to claim 1, wherein a weight sensor is provided at a burner of the gas range, and the controller judges whether the feeding action is performed based on weight information detected by the weight sensor.
3. The control method according to claim 2, wherein in the step S50, detecting whether the feeding action is performed includes the steps of:
s51, acquiring weight information detected by the weight sensor;
s52, judging the cover opening and closing state of the steaming pot according to the weight information, executing S53 if the steaming pot is in the cover closing state, and executing S54 if the steaming pot is in the cover opening state;
s53, judging whether the weight information has suddenly fallen equal to or higher than a first preset weight difference value, if so, judging that the uncovering action is executed, jumping to S54, otherwise, continuing to judge;
s54, judging whether the weight information is suddenly lifted which is equal to or higher than a second preset weight difference value, if so, judging that food materials are put in, jumping to S55, otherwise, continuing to judge;
s55, judging whether the weight information is suddenly increased equal to or higher than the first preset weight difference value, if yes, judging that the food adding action is finished, and if not, continuing to judge.
4. The control method according to claim 3, wherein in the step S52, determining the open/close cover state of the steamer includes the steps of:
s521, obtaining the actual water adding weight value m in the step S30 Water and its preparation method ；
S522, obtaining the current weight value m detected by the weight sensor Currently, the method is that ；
S523, calculating the weight m of the steaming pot after water is removed Dewatering ＝m Currently, the method is that -m Water and its preparation method ；
S524, calculate the actual difference Δm=m Dewatering -m Pot body -m Steaming rack ，m Pot body For the potActual weight of body, m Steaming rack Is the actual weight of the steaming rack;
s525, judging whether the actual difference Deltam is greater than or equal to the preset difference Deltam Reservation of If yes, judging that the steaming pot is in a cover closing state, otherwise, judging that the steaming pot is in a cover opening state.
5. The control method according to claim 1, wherein the plurality of cooking sub-steps further includes a steaming rack step and a water adding step, the control method further including the steps of, performed before step S60:
s20, executing the steaming rack placing step, wherein the controller sends out an action reminding signal of the steaming rack placing step, and executing the next cooking substep after detecting the action of the steaming rack placing step;
s30, executing the water adding step, wherein the controller sends out a water adding action reminding signal, and executing the next cooking substep after detecting the water adding action;
the controller also judges whether the steaming rack and the water adding action are executed or not according to the weight information detected by the weight sensor.
6. The control method of any one of claims 1 to 5, wherein the at least one smart pot comprises more than two smart pots, the at least one cooking range further comprises a second cooking range, the plurality of cooking sub-steps further comprises a topping pot confirmation step and a topping preparation step, the control method further comprising the steps of:
s90, executing the material pouring pot confirmation step, wherein the controller controls the second cooking range to strike fire, acquires actual temperatures detected by temperature sensors of other intelligent pots except the steaming pot, determines the intelligent pot in a heating state according to the acquired actual temperature information, and takes the intelligent pot as a material frying pot;
and S100, executing the casting preparation step, wherein the controller sends a feeding action reminding signal, and after detecting the feeding action, performing constant firepower control or tracking curve control on the electromagnetic proportional valve of the second cooking range until the preparation duration reaches the total duration of the curve section corresponding to the casting preparation step, and controlling the second cooking range to be turned off.
7. The control method according to claim 6, wherein in the step S40, the controller controls the input current of the electromagnetic proportional valve corresponding to the first burner to be a first preset current when the first burner is ignited;
In the step S90, when the controller controls the second cooking range to strike a fire, controlling the input current of the electromagnetic proportional valve corresponding to the second cooking range to be a second preset current;
the first preset current and the second preset current are unequal.
8. The control method according to any one of claims 1 to 5, characterized by further comprising, after said step S10, the step of:
s90: and the controller judges whether the actual temperature of the intelligent pot is greater than a dry heating prevention threshold, if so, the controller alarms and jumps to step S80.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed, implements the control method according to any one of claims 1 to 8.
10. A cooking system, characterized in that the cooking system comprises a gas stove with a controller and at least one intelligent pot, the intelligent pot can be in communication connection with the controller, the gas stove comprises at least one cooking range, the at least one cooking range comprises a first cooking range, the gas stove is provided with an electromagnetic proportional valve in communication connection with the controller, the firepower output by the cooking range is controlled by adjusting the opening degree of the electromagnetic proportional valve, the intelligent pot comprises a pot, a pot cover, a steaming rack and a temperature sensor, the temperature sensor is used for detecting the temperature of the pot body, and the controller can realize the control method of any one of claims 1 to 8.
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CN107491016A (en) * 2017-10-16 2017-12-19 杭州老板电器股份有限公司 Cooking control method and cooking system
CN113744509B (en) * 2021-09-06 2023-02-28 华帝股份有限公司 Flip early warning method and device, computer equipment and readable storage medium
CN113741601B (en) * 2021-11-08 2022-02-22 伟龙食品有限公司 Food processing data processing method and system and electronic equipment
CN115981141B (en) * 2023-03-17 2023-07-18 广东海新智能厨房股份有限公司 Control method, device, equipment and medium based on self-adaptive matching

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