CN113156867A

CN113156867A - Order processing method and device, electronic equipment and cooking system

Info

Publication number: CN113156867A
Application number: CN202110500792.9A
Authority: CN
Inventors: 吴启宝; 岑健昆; 饶橙俊
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-07-23

Abstract

The embodiment of the application provides an order processing method, an order processing device, electronic equipment and a cooking system, wherein the method comprises the following steps: the method comprises the steps of obtaining received one or more pieces of order information, wherein the order information comprises a target identification, and the target identification is used for identifying a first address corresponding to a material storage subarea; storing the target identification of each order information into a first storage queue according to the input time of the order information; after the target identification is determined to be stored in the head of the first storage queue, the target identification stored in the head of the queue is used as a reading result, and the mechanical arm is controlled to move to a material storage sub-area corresponding to the target identification contained in the reading result according to the reading result.

Description

Order processing method and device, electronic equipment and cooking system

Technical Field

The present application relates to the field of order processing technologies, and in particular, to an order processing method and apparatus, an electronic device, and a cooking system.

Background

The automatic control can liberate labor force, improve production efficiency and reduce production cost, and to meet the requirement, equipment generally needs to meet three major factors, namely 'fast, stable and accurate', the equipment information and electronic control in the current market interact too much, so that the equipment is restrained by communication too much after receiving an order, the equipment needs to handshake each interaction, if the communication is delayed or fails in receiving and sending, a retransmission mechanism can be triggered, a large amount of state messages interact, and the control instantaneity is influenced.

For example, in the restaurant field, after an order is received by equipment, each time a scheduling command is issued, whether a mechanical arm is idle or not is monitored, when a plurality of order tasks are executed, information scheduling is often logically interpreted through serial waiting in a complex application scene, that is, after one order information is received, only after each cooking link of the order information is finished and a meal is taken out, the next order information is processed by a system, so that the meal taking speed is influenced, the order processing efficiency is low, and the user experience degree is poor.

Disclosure of Invention

The application provides an order processing method and device, electronic equipment and a cooking system, which can process second order information under the condition that first order information is not processed, and are beneficial to improving order processing efficiency and increasing user experience.

In a first aspect, the present application provides an order processing method applied to a cooking system, the cooking system including a robot arm and a stocker, the stocker including one or more stocker areas, each of the stocker areas being configured with a corresponding first address, the method including:

acquiring one or more pieces of received order information, wherein the order information comprises a target identifier, and the target identifier is used for identifying the first address;

storing the target identification in each order information into a first storage queue according to the input time of the order information;

after the target identification is determined to be stored in the head of the first storage queue, the target identification stored in the head of the queue is used as a reading result, and the mechanical arm is controlled to move to a material storage sub-area corresponding to the target identification contained in the reading result according to the reading result.

In one possible implementation manner, the method further includes:

and after the target identification stored at the head of the queue is read, moving all the target identifications stored in the first storage queue from the tail of the queue to the head of the queue.

In one possible implementation manner, after the target identifier stored in the head of the queue is read, moving all the target identifiers stored in the first storage queue from the tail of the queue to the head of the queue includes:

after the target identification stored at the head of the queue is read, deleting the target identification stored at the head of the queue from the head of the queue, and moving all the target identifications stored in the first storage queue from the tail of the queue to the head of the queue.

In one possible implementation manner, the cooking system further includes a cooking area, the cooking area includes one or more cooking sub-areas, each cooking sub-area is configured with a corresponding second address, the plurality of cooking sub-areas are sorted according to priority, after the target identifier stored at the head of the queue is used as a read result, and the mechanical arm is controlled to move to a stock sub-area corresponding to the target identifier included in the read result according to the read result, the method further includes:

searching in a plurality of cooking subareas to obtain a target cooking subarea which is in an idle state and has high priority;

and controlling the mechanical arm to move according to a second address corresponding to the target cooking subarea.

In one possible implementation manner, the method further includes:

acquiring the quantity of the order information;

searching in a plurality of cooking subareas to obtain a cooking subarea in an idle state;

and opening the cooking subareas in the idle state according to the priority based on the number of the orders.

In one possible implementation manner, the method further includes:

acquiring one or more second addresses corresponding to the cooking subarea where cooking is finished under the condition that the cooking subarea finishes cooking;

according to the cooking completion time of the cooking subareas, storing each second address corresponding to the cooking subarea which completes cooking into a second storage queue according to the time sequence;

and after the second address is determined to be stored in the head of the second storage queue, the second address stored in the head of the queue is used as a reading result, and the mechanical arm is controlled to move to a cooking subarea corresponding to the second address contained in the reading result according to the reading result.

In a second aspect, the present application provides an order processing apparatus comprising a robotic arm and a stocker, the stocker comprising one or more stocker regions, each of the stocker regions being configured with a corresponding first address, the apparatus comprising:

the acquisition module is used for acquiring one or more pieces of received order information, wherein the order information comprises a target identifier, and the target identifier is used for identifying the first address;

the storage module is used for storing the target identification in each order information into a first storage queue according to the time sequence according to the input time of the order information;

and the control module is used for taking the target identifier stored at the head of the queue as a reading result after determining that the target identifier is stored at the head of the queue of the first storage queue, and controlling the mechanical arm to move to a material storage sub-area corresponding to the target identifier contained in the reading result according to the reading result.

In a third aspect, the present application provides a cooking system comprising:

a holding area comprising one or more holding sub-areas, each holding sub-area being configured with a corresponding first address;

a cooking zone comprising one or more cooking sub-zones, each configured with a corresponding second address;

the order management device is used for receiving one or more pieces of order information;

a control device, comprising:

one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the system, cause the system to perform the method of the first aspect;

and the mechanical arm is used for being controlled by the control device to execute material taking, moving and/or meal serving operations.

In a fourth aspect, the present application provides an electronic device, comprising:

one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the apparatus, cause the apparatus to perform the method of the first aspect.

In a fifth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when run on a computer, causes the computer to perform the method according to the first aspect.

In a sixth aspect, the present application provides a computer program for performing the method of the first aspect when the computer program is executed by a computer.

In a possible design, the program in the sixth aspect may be stored in whole or in part on a storage medium packaged with the processor, or in part or in whole on a memory not packaged with the processor.

Drawings

FIG. 1 is a schematic diagram of an embodiment of an order processing method according to the present application;

FIG. 2 is a schematic diagram of a first storage queue in an embodiment of an order processing method of the present application;

FIG. 3 is a diagram illustrating a second storage queue according to an embodiment of the order processing method of the present application;

FIG. 4 is a schematic structural diagram of an embodiment of an order processing apparatus according to the present application;

FIG. 5 is a schematic diagram of an embodiment of a cooking system of the present application;

FIG. 6 is a schematic flow chart diagram of one embodiment of the cooking system of the present application;

FIG. 7 is a schematic diagram of another embodiment of a cooking system according to the present application;

fig. 8 is a schematic structural diagram of an embodiment of an electronic device according to the present application.

Detailed Description

The terminology used in the description of the embodiments section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.

In the prior art, when a plurality of order tasks are executed, information scheduling is often logically interpreted through serial waiting in a complex application scene, that is, after receiving one order message, the system processes the next order message only after each cooking link of the order message is processed and a meal is taken out, so that the meal taking speed is influenced, and therefore, the order processing efficiency is low and the user experience degree is poor.

Therefore, the order processing method, the order processing device, the electronic equipment and the cooking system are provided, and the second order information can be processed under the condition that the first order information is not processed, so that the order processing efficiency is improved, and the user experience is improved.

For example, the order processing method may be applied to a cooking system, the cooking system may include a robot arm and a stocker, the stocker may include one or more stocker areas, each stocker area is configured with a corresponding first address, and each stocker area stores a stocker (or a dish material) for cooking, and the like. For example, the material storage area may include multiple material stacks, each layer of the multiple material stacks corresponds to a material storage sub-area, for example, a first material storage sub-area corresponds to a first material stack, a first address corresponding to the first material storage sub-area is a number (for example, the number is 1) of the first material stack, a second material storage sub-area corresponds to a second material stack, a first address corresponding to the second material storage sub-area is a number (for example, the number is 2) of the second material stack, and so on.

The cooking system may further include a cooking zone that may include one or more cooking sub-zones, each configured with a corresponding second address, each cooking sub-zone for cooking a stock placed therein, e.g., the cooking zone may include a plurality of fryers, each fryer including a basket, each basket corresponding to a cooking sub-zone, e.g., a first basket corresponding to a first cooking sub-zone, a second address corresponding to the first cooking sub-zone being the number of the first basket (e.g., number 1), a second cooking sub-zone corresponding to a second basket, a second address corresponding to the second cooking sub-zone being the number of the second basket (e.g., number 2), and so on.

In the process of processing order information, the cooking system needs to execute a plurality of cooking links, and the cooking links can include but are not limited to taking materials, feeding materials, cooking, serving and the like. For example, a complete process for processing order information may include controlling the robotic arm to retrieve a desired stock from the stock area (e.g., retrieve a stock), after retrieving the desired stock, controlling the robotic arm to deposit the retrieved stock into the cooking area (e.g., place the stock), cooking (e.g., cook) in the cooking area, and after cooking is complete, controlling the robotic arm to retrieve a cooked meal from the cooking area (e.g., deliver a meal) to complete the meal.

In this embodiment, if a plurality of order information are received, the cooking system may process the second order information when the first order information is not processed, so as to improve the order processing efficiency. For example, when the first order information is performing the next cooking link (such as feeding, cooking or meal serving), the cooking system may perform the previous cooking link (such as taking, feeding or cooking) on the second order information, which is beneficial to shortening the meal serving time and increasing the user experience. In the prior art, if a plurality of pieces of order information are received, the second order information is processed only after the first order information is sequentially taken, thrown, cooked and eaten, so that the order processing efficiency is low and the user experience is poor.

Fig. 1 is a schematic method diagram of an embodiment of an order processing method according to the present application. As shown in fig. 1, the order processing method may include:

s101, one or more received order information is obtained, wherein the order information comprises a target identifier, and the target identifier is used for identifying the first address.

For example, the order information may include a target identifier of one or more dishes, where the target identifier corresponds to a first address of a stock subregion where the dish material is stored, for example, the first address is a stock subregion No. 1, and the target identifier may be recorded as ID ═ 1. In other embodiments, the destination identifier in the order information may comprise the first address of the dish material store, without limitation.

For example, the cooking system may further include an order management device, and the order management device is configured to receive one or more pieces of order information. For example, the order management device may include an interactive interface for obtaining order information input by the user. Alternatively, the order management device may further include a communication module, configured to establish a connection with a user terminal, such as a mobile phone, to receive order information sent by the user terminal.

S102, storing the target identification in each order information into a first storage queue according to the input time of the order information.

For example, the input time of the order information may include a time when the user inputs the order information, such as a time when the user inputs an order at the order management apparatus, or a time when the order management apparatus receives the order information. Alternatively, the input time of the order information may include a set time input by the user, such as a reservation time.

As shown in fig. 2, the first storage queue may include a plurality of first buffers, for example, from head bits to tail bits of the queue, the first buffer addresses are D430, D431, D432, D433, D434 … D478, D479, etc. in sequence. Preferably, in the case of no order information, the value of each first buffer in the first storage queue is 0.

For example, in step S102, the value of the object identifier in each order information is sequentially assigned to the first buffer from the head of the queue to the tail of the queue in chronological order, and if 4 order information is received, and the object identifier in the first order information is ID 1, the object identifier in the second order information is ID 2, the object identifier in the third order information is ID 3, and the object identifier in the fourth order information is ID 1, the stored values of the first buffer from the head of the queue to the tail of the queue in the first storage queue are D430-1, D431-2, D432-3, D433-1, D434-0, D436-0 … D478-0, and D479-0, respectively.

Further, if the cooking system continues to receive new order information, the first buffer with the stored value of 0 is searched according to the sequence from the head position to the tail position of the queue, and the value of the target identifier of the new order information is assigned to the searched first buffer with the stored value of 0. For example, in chronological order, when the object identifier (for example, ID ═ 4) in the fifth order information is received, it is determined that the stored value of the first buffer D434 is equal to 0 in the order from the head of the queue to the tail of the queue, the value of the object identifier in the fifth order information is assigned to the first buffer D434, that is, D434 is equal to 4, and the order information received subsequently is analogized.

S103, after the target identification is determined to be stored in the head of the first storage queue, the target identification stored in the head of the queue is used as a reading result, and the mechanical arm is controlled to move to a material storage sub-area corresponding to the target identification contained in the reading result according to the reading result so as to execute material taking operation.

For example, in a case that the stored value of the first buffer at the head of the queue is not equal to 0 (e.g., D430 is equal to 1), the stored value of the first buffer at the head of the queue is read, and the mechanical arm is controlled to perform a moving operation, such as moving to the corresponding stocker sub-area, according to the read stored value, so as to complete material fetching. For example, after the mechanical arm is controlled to move to the corresponding material storage subarea, the mechanical arm is controlled to execute the material taking operation so as to take out the required material storage, such as the dish raw material, from the material storage subarea.

That is, as long as the target identifier is stored in the head of the first storage queue, the operation of controlling the mechanical arm to execute the moving operation can be triggered without waiting for the previous order information to finish the whole cooking link (for example, the meal is finished). In other words, even if the whole cooking link of the previous order information is not finished, the cooking process of the next order can be started, which is beneficial to improving the order processing efficiency, increasing the cooking efficiency of the cooking system and shortening the waiting time of the user. For example, if the first order information is cooking (for example, cooking dishes) or taking dishes, and if the target identifier (for example, the target identifier of the second order information) is stored at the head of the first storage queue, the mechanical arm is controlled to move to the material storage sub-area corresponding to the target identifier of the second order information according to the reading result, and the material taking operation is performed to take the dish raw materials corresponding to the second order information.

It should be noted that the target identifier included in the order information may represent an address (e.g., a first address) of the stock sub-area, and therefore, the cooking system may read the stored target identifier from the first storage queue, that is, may control the robot arm to move to the corresponding stock sub-area, and the order information does not need to be stored in the first storage queue, which reduces a process of analyzing the order information and is beneficial to improving efficiency.

In one possible implementation manner, the method may further include:

s201, after the target identification stored in the head of the queue is read, all the target identifications stored in the first storage queue are moved from the tail of the queue to the head of the queue.

That is, after reading the target id stored at the head of the first storage queue, the robot is controlled to perform the moving operation according to the read result, and all the target ids stored in the first storage queue are moved from the tail of the queue to the head of the queue, for example, each time the moving step is a storage address.

For example, when 4 pieces of order information are received, the stored values of the first buffer from the head position to the tail position in the first storage queue are D430-1, D431-2, D432-3, D433-1, D434-0, D436-0 … D478-0, and D479-0, respectively, and when the target identifier of the head position in the first storage queue is read (if the read result is D430-1), the mechanical arm is controlled to move to the sub-area corresponding to D430-1 according to the read result, and when all the target identifiers in the first storage queue move from the tail position to the head position in the first storage queue, the stored values of the first buffer from the head position to the tail position in the first storage queue are D430-2, D431-3, D432-1, D433-0, D434-0, D350, and D470, respectively.

It can be seen that the cooking system can sequentially read the target identifiers of the plurality of order information ordered in time only by reading the head of the first storage queue, so that the reading position does not need to be modified or updated, for example, the storage value of the head of the first storage queue (D430) is always read, the program design is simplified, and the standard modularization work of the subsequent program is facilitated.

In one possible implementation manner, step S201 may include:

s202, after the target identification stored in the head of the queue is read, deleting the target identification stored in the head of the queue from the head of the queue, and moving all the target identifications stored in the first storage queue from the tail of the queue to the head of the queue.

In step S202, all the target identifiers to be moved refer to all the target identifiers remaining in the first storage queue after the target identifier stored at the head of the first storage queue is deleted.

That is, after reading the target identifier (e.g., D430 ═ 1) stored in the head of the first storage queue, according to the read result, the robot is controlled to execute the move operation, and (e.g., after the move operation is completed), the target identifier stored in the head of the first storage queue is deleted (e.g., the stored value of D430 is cleared, e.g., D430 ═ 0 is cleared), (e.g., after the set polling duration is reached), all the target identifiers stored in the first storage queue are moved from the tail of the queue to the head of the queue, (e.g., the stored value 2 of D431 is assigned to D430, e.g., D430 ═ 2).

Therefore, the length of the first storage queue can be kept fixed, which is beneficial to saving storage space, and the target identifier of the received new order information can be stored in the first storage queue as long as the stored value of the tail bit (e.g., D479) of the first storage queue is 0 (or an empty set).

In one possible implementation manner, after step S103, the method may further include:

s301, searching in the plurality of cooking subareas to obtain a target cooking subarea which is in an idle state and has high priority;

s302, controlling the mechanical arm to move according to a second address corresponding to the target cooking subarea.

Preferably, the plurality of cooking sub-areas are prioritized, e.g. the plurality of cooking sub-areas are prioritized by the size of the number, e.g. the smaller the number the higher the priority. The state of the cooking subarea can comprise an operating state and an idle state, wherein the operating state is used for indicating that the dishes are put into the cooking subarea, and the idle state is used for indicating that the dishes are not put into the cooking subarea.

For example, in step S301, after the mechanical arm is controlled to move to the corresponding material storage sub-area and perform a material taking operation to take out a required dish material, whether each cooking sub-area is in an idle state (e.g., whether dishes have been put into each cooking sub-area is detected) is detected according to the order from high to low in priority, so as to obtain a target cooking sub-area in an idle state and with high priority. For example, if it is detected that dishes are already put into the No. 1 cooking sub-area and dishes are not put into the No. 2 cooking sub-area, it is determined that the No. 2 cooking sub-area is the target cooking sub-area.

In step S302, according to the second address corresponding to the target cooking sub-area, the mechanical arm is controlled to move the taken dish raw material and throw the dish raw material into the target cooking sub-area (for example, No. 2 cooking sub-area) to complete the feeding. Further, under the condition that the dish raw materials are put into the target cooking subarea, the state of the target cooking subarea is changed from an idle state to a working state, and the cooking operation is performed on the dish raw materials in the target cooking subarea according to parameters such as cooking time of the dishes, so that the dishes required by the user are cooked. For example, the cooking system may further include a heating device for performing a cooking operation on the cooking sub-zone, such as heating a temperature (e.g., oil temperature) within the cooking sub-zone to fry dishes.

In one possible implementation manner, the method may further include:

s401, acquiring the quantity of the order information;

s402, searching in the plurality of cooking subareas to obtain a cooking subarea in an idle state;

and S403, opening the cooking subareas in the idle state according to the priority based on the number of the orders.

For example, if the number of the order information is n, n cooking sub-areas in the idle state are opened according to the sequence of the priority from high to low, and other cooking sub-areas in the idle state are not opened, which is beneficial to reducing energy consumption and saving electric quantity.

In one possible implementation manner, the method may further include:

s501, under the condition that the cooking subarea completes cooking, one or more second addresses corresponding to the cooking subarea completing the cooking are obtained;

s502, according to the cooking completion time of the cooking subarea, storing each second address corresponding to the cooking subarea which completes cooking into a second storage queue according to a time sequence;

s503, after the fact that the second address exists in the head position of the second storage queue is determined, the second address existing in the head position of the queue is used as a reading result, and the mechanical arm is controlled to move to a cooking subarea corresponding to the second address contained in the reading result according to the reading result, so that meal delivery operation is executed.

For example, in the case that a cooking sub-area completes cooking (e.g., reaches a cooking time period, etc.), a cooking completion signal may be generated that identifies that the cooking sub-area completes cooking. Further, the cooking completion signal may include a second address of a cooking sub-zone where cooking is completed and a cooking completion time.

In step S502, when the plurality of cooking sub-areas complete cooking (for example, a plurality of cooking completion signals are detected), each second address corresponding to the cooking sub-area where cooking is completed is stored in the second storage queue by time attribute according to the cooking completion time of each cooking sub-area.

As shown in fig. 3, the second storage queue may include a plurality of second buffers, for example, from head of queue bit to tail of queue bit, the addresses of the second buffers are D320, D321, D322, D323, D324 … D335, D336, etc. in sequence. Preferably, in the case of no cooking sub-area where cooking is completed, the value of each second buffer in the second storage queue is 0.

For example, in step S502, the values of the second addresses each corresponding to the cooking sub-area where cooking is completed are sequentially assigned to the second buffers from the head bit to the tail bit of the line in chronological order, if the second addresses corresponding to the 4 cooking subareas which finish cooking are acquired in time sequence (if 4 cooking finishing signals are detected), and the second address corresponding to the first cooking sub-zone with cooking completed is ID-1, the second address corresponding to the second cooking sub-zone with cooking completed is ID-2, the second address corresponding to the third cooking sub-zone with cooking completed is ID-3, the second address corresponding to the fourth cooking sub-zone with cooking completed is ID-4, the stored values in the second buffer from the head bit to the tail bit in the second store queue are D320-1, D321-2, D322-3, D323-4, D324-0, D436-0 … -0, D478-0, and D479-0, respectively.

Further, if the cooking system continues to receive a second address corresponding to a new cooking sub-area where cooking is finished, the second buffer with the stored value of 0 is searched according to the sequence from the head of the queue to the tail of the queue, and the value of the second address corresponding to the new cooking sub-area where cooking is finished is assigned to the searched second buffer with the stored value of 0. For example, when a second address (for example, ID ═ 5) corresponding to the fifth cooking sub-area that completes cooking is acquired in chronological order, it is determined that the stored value of the second buffer D434 is equal to 0 in the order from the head of the queue to the end of the queue, the value of the second address corresponding to the fifth cooking sub-area that completes cooking is assigned to the second buffer D434, that is, D434 is equal to 4, and the order information received subsequently is analogized.

In step S503, for example, when the stored value of the second buffer at the head of the team is not equal to 0 (e.g., D320 is equal to 1), the stored value of the second buffer at the head of the team is read, and the mechanical arm is controlled to perform a moving operation, such as moving to a corresponding cooking sub-area, to obtain a cooked food according to the read stored value. For example, the cooking system may further include one or more lifting mechanisms for performing lifting operations to lift a fry basket within the cooking sub-zone to complete the pour. After the mechanical arm is controlled to move to the corresponding cooking subarea, the lifting mechanism is controlled to perform lifting operation so as to lift the frying basket in the cooking subarea (for realizing material pouring of the frying basket), so that the mechanical arm can take the food poured out of the frying basket (such as the food in the frying basket is poured into a material taking box or a tray on the mechanical arm). Furthermore, after the mechanical arm is controlled to perform the meal taking operation, the mechanical arm is controlled to move to the meal outlet so as to place the taken meal in the meal outlet, the meal outlet can comprise a plurality of meal outlet positions, and each meal outlet position is used for storing the taken meal. Further, after the mechanical arm is controlled to move to the meal outlet, the cooking system can send a meal outlet prompt to prompt a user to take meals.

That is to say, as long as the second address is stored in the head of the second storage queue, the operation of controlling the mechanical arm to execute the moving operation can be triggered, which is beneficial to improving the order processing efficiency, increasing the cooking efficiency of the cooking system and shortening the waiting time of the user.

Optionally, after reading a second address (e.g., D320 ═ 1) stored in the head bit of the second storage queue, according to the read result, the robot is controlled to execute a move operation, and (e.g., after the move operation is completed), the second address stored in the head bit of the second storage queue is deleted (e.g., the stored value of D320 is cleared, e.g., D320 ═ 0) (e.g., after a set polling duration is reached), all the second addresses stored in the second storage queue are moved from the tail bit to the head bit, (e.g., the stored value 2 of D321 is assigned to D320, e.g., D320 ═ 2).

Therefore, the length of the second storage queue can be kept fixed, which is beneficial to saving storage space, and as long as the storage value of the tail bit (e.g., D336) of the second storage queue is 0 (or an empty set), the second address corresponding to the received new cooking sub-area where cooking is completed can be stored in the second storage queue.

It should be noted that, if the mechanical arm of the cooking system is a single-arm mechanical arm, the steps S103 and S503 may be performed alternately to reasonably allocate the mechanical arm to perform tasks, thereby improving the efficiency and stability of the apparatus. For example, after executing step S103, for example, the control mechanical arm performs a moving operation according to the target identifier of the first order information, step S503 is executed, for example, the control mechanical arm performs a moving operation according to the second address corresponding to the cooking sub-area where the cooking is completed first, then step S103 is executed again, for example, the control mechanical arm performs a moving operation according to the target identifier of the second order information (if the stored value of the first queue head of the first storage queue is read to be 0, step S503 is executed continuously), and so on.

It is to be understood that some or all of the steps or operations in the above-described embodiments are merely examples, and other operations or variations of various operations may be performed by the embodiments of the present application. Further, the various steps may be performed in a different order presented in the above-described embodiments, and it is possible that not all of the operations in the above-described embodiments are performed.

Fig. 4 is a schematic structural diagram of an embodiment of an order processing apparatus 100 according to the present application. As shown in fig. 4, the order processing apparatus 100 includes a robot and a stocker, the stocker includes one or more stocker areas, each of the stocker areas is configured with a corresponding first address, and the apparatus 100 includes:

an obtaining module 10, configured to obtain received one or more pieces of order information, where the order information includes a target identifier, and the target identifier is used to identify the first address;

the storage module 20 is configured to store the target identifier in each order information into a first storage queue in a time sequence according to the input time of the order information;

and the control module 30 is configured to, after it is determined that the target identifier is stored in the head of the first storage queue, use the target identifier stored in the head of the queue as a reading result, and control the mechanical arm to move to a material storage sub-area corresponding to the target identifier included in the reading result according to the reading result.

In one possible implementation manner, the apparatus 100 is further configured to:

In one possible implementation manner, the apparatus 100 further includes a cooking area, where the cooking area includes one or more cooking sub-areas, each cooking sub-area is configured with a corresponding second address, the plurality of cooking sub-areas are ordered according to priority, and the apparatus 100 is further configured to:

acquiring the quantity of the order information;

It is understood that the order processing apparatus provided in the embodiment shown in fig. 4 can be used to implement the technical solution of the method embodiment shown in fig. 1 of the present application, and the implementation principle and technical effect thereof can be further referred to the related description in the method embodiment.

It should be understood that the division of the modules of the order processing apparatus shown in fig. 4 is merely a logical division, and the actual implementation may be wholly or partially integrated into one physical entity or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling by the processing element in software, and part of the modules can be realized in the form of hardware. For example, the control module may be a separately established processing element, or may be implemented by being integrated into a chip of the electronic device. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors (DSPs), one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, these modules may be integrated together and implemented in the form of a System-On-a-Chip (SOC).

Fig. 5 is a schematic structural diagram of an embodiment of the cooking system 200 of the present application. As shown in fig. 5, the cooking system 200 may include a stocker region 210, the stocker region 210 including one or more stocker regions 211, each of the stocker regions configured with a corresponding first address; a cooking zone 220, said cooking zone 220 comprising one or more cooking sub-zones 221, each said cooking sub-zone configured with a corresponding second address, each cooking sub-zone 221 configured with a fry basket 201 therein for cooking dishes; an order management device 230 for receiving one or more order information; a control device 240; and a robotic arm 250 for being controlled by the control device 240 to perform material pick-up, movement and/or meal delivery operations.

The control device 240 includes:

one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the system, cause the system to perform the following steps;

In one possible implementation, the instructions, when executed by the system, cause the system to further perform:

In one possible implementation manner, when the instructions are executed by the system, the system executes the step of moving all the target identifiers stored in the first storage queue from the tail position to the head position of the queue after the target identifiers stored in the head position of the queue are read, which includes:

In one possible implementation manner, the cooking system further includes a cooking area, where the cooking area includes one or more cooking sub-areas, each cooking sub-area is configured with a corresponding second address, the plurality of cooking sub-areas are sorted according to priority, and when the instructions are executed by the system, the system further includes, after executing the target identifier stored at the head of the queue as a read result, and controlling the mechanical arm to move to a stock sub-area corresponding to the target identifier included in the read result according to the read result:

acquiring the quantity of the order information;

That is, the cooking system 200 may be used to execute the order processing method according to the embodiment shown in fig. 1, and the functions or principles thereof may refer to the order processing method according to the embodiment shown in fig. 1, which is not described herein again.

It should be noted that the order management device 210 of the cooking system only manages to receive the order and inquire whether the cooking system can receive the order, if the order can be received, the order information input by the user is received, and after the order is completed, the user is reminded to take the meal, and in the whole cooking process (such as taking the meal, feeding, cooking, serving and the like), the order management device 210 does not need to interact with the control device 240, which is beneficial to reducing the information participation in the cooking process. The control device 240 only needs to control the mechanical arm to execute the moving operation according to the target identifier stored in the first storage queue (or the second address stored in the second storage queue) so as to complete the tasks of material taking, material feeding, cooking, meal serving and the like, which is beneficial to improving the real-time performance and reliability of control and improving the order processing efficiency. Compared with the existing cooking system, under the condition that the number of the baskets is not changed, the cooking system provided by the embodiment can compress the previous 24 parts of dishes such as the French fries to the continuous eating average speed of less than or equal to 12 parts of French fries of 20 seconds/part, wherein the speed is increased to 240%, and the continuous eating average speed of 24 parts of French fries of 25 seconds/part is increased to 192%.

For example, as shown in fig. 6, the cooking system may be used for frying dishes, and the order processing flow of the cooking system may include:

s1, initializing the cooking system, such as initializing a storage area (for example, acquiring configuration information of the storage area), initializing a cooking area (for example, acquiring basket information of the cooking area), initializing a mechanical arm (for example, returning the mechanical arm to an initial position), and the like;

s2, receiving order information input by a user;

s3, judging whether the order is successfully received, if the order is failed, re-receiving the order, and if the order is successfully received, executing the step S4;

s4, detecting whether the material storage area discharges materials (such as detecting whether a material box exists on a discharging slide way of the material storage area), if not, reporting error information, and if so, executing the step S5;

s5, storing the target identification of the order information into a first storage queue;

s6, controlling the mechanical arm to execute material taking and feeding operations so as to take the material box from a material discharging slideway of the material storage area and feed dishes in the taken material box into an idle cooking subarea;

s7, performing cooking operation (such as frying dishes) on the dishes thrown into the cooking subarea;

s8, storing a second address corresponding to the cooking subarea which finishes cooking into a second storage queue;

s9, controlling the mechanical arm to execute a meal taking operation so as to place fried meal into a meal outlet;

and S10, reporting a meal completion signal to prompt a user to take a meal.

It is understood that the order management device 210 may include an interactive interface for obtaining order information input by a user. Alternatively, the order management device may further include a communication module, configured to establish a connection with a user terminal, such as a mobile phone, to receive order information sent by the user terminal. As shown in fig. 7, the cooking system 200 may further include a heating device 260 for being controlled by the control device 240 to perform a cooking operation on the cooking sub-area, such as heating the temperature (e.g., oil temperature) in the cooking sub-area to fry dishes. The cooking system may further include one or more lift mechanisms 270 for being controlled by the control device 240 to perform a lifting operation to lift the fry basket within the cooking sub-zone to complete the pour. The cooking system 200 may further include a housing 280, the cooking zone 220 is formed on the housing 280, and the lifting mechanism 270 and the heating device 260 are mounted on the housing 280. The cooking system 200 may further include an alarm device for performing an alarm operation, etc. under the control of the control device 240.

It should be understood that the cooking system 200 of the present embodiment may include other different types of operating mechanisms to perform different operations under the control of the control device, and is not limited thereto.

It should be understood that the control device can be implemented as a control circuit, and the processor in the control device can be a system on chip SOC, and the processor can include a Central Processing Unit (CPU), and can further include other types of processors, such as: an image Processing Unit (hereinafter, referred to as GPU), and the like.

Fig. 8 is a schematic structural diagram of an embodiment of an electronic device of the present application, and as shown in fig. 8, the electronic device may include: one or more processors; a memory; and one or more computer programs.

The electronic device may be a cooking device or the like.

Wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the apparatus, cause the apparatus to perform the steps of:

In one possible implementation manner, when the instruction is executed by the apparatus, the apparatus is further caused to perform:

In one possible implementation manner, when the instruction is executed by the device, the device is caused to execute the step of moving all the target identifiers stored in the first storage queue from the tail position to the head position of the queue after the target identifiers stored in the head position of the queue are read, including:

In one possible implementation manner, the cooking system further includes a cooking area, where the cooking area includes one or more cooking sub-areas, each cooking sub-area is configured with a corresponding second address, the plurality of cooking sub-areas are sorted according to a priority, and when the instruction is executed by the apparatus, the apparatus further performs, after executing the target identifier stored at the head of the queue as a read result, and controlling the mechanical arm to move to a stock sub-area corresponding to the target identifier included in the read result according to the read result:

acquiring the quantity of the order information;

The electronic device shown in fig. 8 may be configured to execute the order processing method shown in the embodiment shown in fig. 1, and the functions or principles of the electronic device may refer to the order processing method shown in the embodiment shown in fig. 1, which is not described herein again.

As shown in fig. 8, the electronic device 900 includes a processor 910 and a memory 920. Wherein, the processor 910 and the memory 920 can communicate with each other through the internal connection path to transmit control and/or data signals, the memory 920 is used for storing computer programs, and the processor 910 is used for calling and running the computer programs from the memory 920.

The memory 920 may be a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a Random Access Memory (RAM), or other types of dynamic storage devices that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disc storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, etc.

The processor 910 and the memory 920 may be combined into a processing device, and more generally, independent components, and the processor 910 is configured to execute the program codes stored in the memory 920 to realize the functions. In particular implementations, the memory 920 may be integrated with the processor 910 or may be separate from the processor 910.

In addition, in order to further improve the functions of the electronic apparatus 900, the electronic apparatus 900 may further include one or more of a camera 930, a power supply 940, an input unit 950, and the like.

Optionally, the power supply 950 is used to provide power to various devices or circuits in the electronic device.

It should be appreciated that the electronic device 900 shown in fig. 8 is capable of implementing the processes of the methods provided by the embodiments shown in fig. 1 of the present application. The operations and/or functions of the respective modules in the electronic device 900 are respectively for implementing the corresponding flows in the above-described method embodiments. Reference may be made specifically to the description of the embodiment of the method illustrated in fig. 1 of the present application, and a detailed description is appropriately omitted herein to avoid redundancy.

It should be understood that the processor 910 in the electronic device 900 shown in fig. 8 may be a system on chip SOC, and the processor 910 may include a Central Processing Unit (CPU), and may further include other types of processors, such as: an image Processing Unit (hereinafter, referred to as GPU), and the like.

In summary, various parts of the processors or processing units within the processor 910 may cooperate to implement the foregoing method flows, and corresponding software programs for the various parts of the processors or processing units may be stored in the memory 920.

The application also provides an electronic device, the device includes a storage medium and a central processing unit, the storage medium may be a non-volatile storage medium, a computer executable program is stored in the storage medium, and the central processing unit is connected with the non-volatile storage medium and executes the computer executable program to implement the method provided by the embodiment shown in fig. 1 of the application.

In the above embodiments, the processors may include, for example, a CPU, a DSP, a microcontroller, or a digital Signal processor, and may further include a GPU, an embedded Neural Network Processor (NPU), and an Image Signal Processing (ISP), and the processors may further include necessary hardware accelerators or logic Processing hardware circuits, such as an ASIC, or one or more integrated circuits for controlling the execution of the program according to the technical solution of the present application. Further, the processor may have the functionality to operate one or more software programs, which may be stored in the storage medium.

Embodiments of the present application further provide a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is enabled to execute the method provided by the embodiment shown in fig. 1 of the present application.

Embodiments of the present application also provide a computer program product, which includes a computer program, when the computer program runs on a computer, causing the computer to execute the method provided by the embodiment shown in fig. 1 of the present application.

In the embodiments of the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.

Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, any function, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present application, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An order processing method for a cooking system, the cooking system comprising a robot arm and a stocker, the stocker comprising one or more stocker areas, each of the stocker areas being configured with a corresponding first address, the method comprising:

2. The method of claim 1, further comprising:

3. The method according to claim 2, wherein said moving all the target id stored in the first storage queue from the end of the queue to the head of the queue after reading the target id stored in the head of the queue comprises:

4. The method according to any one of claims 1 to 3, wherein the cooking system further comprises a cooking area, the cooking area comprises one or more cooking subareas, each cooking subarea is configured with a corresponding second address, the plurality of cooking subareas are sorted according to priority, and after the target identifier stored at the head of the queue is used as a reading result, the mechanical arm is controlled to move to a stock subarea corresponding to the target identifier contained in the reading result according to the reading result, the method further comprises:

5. The method of claim 4, further comprising:

acquiring the quantity of the order information;

6. The method of claim 4, further comprising:

7. An order processing apparatus, the order processing apparatus comprising a robotic arm and a magazine, the magazine comprising one or more magazine sub-areas, each of the magazine sub-areas being configured with a corresponding first address, the apparatus comprising:

8. An electronic device, comprising:

one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the apparatus, cause the apparatus to perform the method of any of claims 1 to 6.

9. A computer-readable storage medium, in which a computer program is stored which, when run on a computer, causes the computer to carry out the method according to any one of claims 1 to 6.

10. A cooking system, comprising:

a control device, comprising:

one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the system, cause the system to perform the method of any of claims 1 to 6;